Multistage Estimators for the Distributed Drive Articulated Steering Vehicle

Figure 7

Estimated lateral tire forces based on the estimator B1 (estimator B1 is based on the quasistatic tire model without yaw rate sensors). (a) Front left lateral tire force. (b) Front right lateral tire force. (c) Rear left lateral tire force. (d) Rear right lateral tire force.

(a)

(b)

(c)

(d)