Multistage Estimators for the Distributed Drive Articulated Steering Vehicle

Figure 8

Estimated lateral tire forces based on the estimator B2 (estimator B2 is based on the quasistatic tire model with 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)