Multistage Estimators for the Distributed Drive Articulated Steering Vehicle

Table 3

MAE and RMSE error of the estimated lateral tire forces based on different estimators.

Estimators	MAE	RMSE
Estimator B1	(62.85, 69.67, 29.10, 31.92)	(33.85, 32.71, 15.4, 14.2)
Estimator B2	(62.94, 69.25, 45.75, 47.14)	(34.95, 33.60, 17.86, 16.02)
Estimator D1	(17.50, 6.673, 28.87, 18.26)	(7.831, 3.902, 20.30, 13.26)
Estimator D2	(5.193, 4.556, 6.778, 6.367)	(3.190, 2.877, 4.085, 3.753)