Multistage Estimators for the Distributed Drive Articulated Steering Vehicle

Figure 6

Estimated yaw rates based on the estimator B1 (estimator B1 is based on the quasistatic tire model without yaw rate sensors). (a) Yaw rate of the DDASV. (b) Articulated yaw rate of the front DDASV. (c) Articulated yaw rate of the rear DDASV.

(a)

(b)

(c)