Table 6 Quantitative error metrics for each observer and variable/.
From: T-S fuzzy approach for real-time vehicle state estimation and road safety enhancement
Observer | Variable | RMSE | SSE | \(T_{\text {conv}}\) [s] |
|---|---|---|---|---|
T-S Observer | \(\beta (t)\) | \(4.790801\times 10^{-3}\) | \(2.303179\times 10^{-10}\) | 2.5 |
FO | \(\beta (t)\) | \(4.790545\times 10^{-3}\) | \(6.715777\times 10^{-10}\) | 2.5 |
PMIO | \(\beta (t)\) | \(4.790787\times 10^{-3}\) | \(4.535983\times 10^{-9}\) | 2.5 |
T-S Observer | \(\dot{\psi }(t)\) | \(2.694077\times 10^{-2}\) | \(2.402493\times 10^{-9}\) | 2.6 |
FO | \(\dot{\psi }(t)\) | \(2.693925\times 10^{-2}\) | \(3.595110\times 10^{-9}\) | 2.6 |
PMIO | \(\dot{\psi }(t)\) | \(2.694081\times 10^{-2}\) | \(6.454020\times 10^{-9}\) | 2.6 |
T-S Observer | \(\Delta \psi (t)\) | 1.126875 | \(4.424567\times 10^{-8}\) | 3.1 |
FO | \(\Delta \psi (t)\) | 1.148788 | \(2.024766\times 10^{-1}\) | 3.1 |
PMIO | \(\Delta \psi (t)\) | 2.347423 | 1.779720 | 4.5 |
T-S Observer | \(\omega (t)\) | \(1.101480\times 10^{-1}\) | \(6.373736\times 10^{-5}\) | 3.2 |
FO | \(\omega (t)\) | \(1.231379\times 10^{-1}\) | \(1.045766\times 10^{-4}\) | 3.2 |
PMIO | \(\omega (t)\) | \(2.820948\times 10^{-1}\) | \(5.487260\times 10^{-4}\) | 4.6 |
