Intelligent Torque Vectoring Approach for Electric Vehicles with Per-Wheel Motors

Table 7

Skid-pad results.

		ANFIS	Model
FL	RMSE	250.192	702.36
	NRMSE	2.37	6.656
FR	RMSE	211.58	698.56
	NRMSE	2.015	6.635
RL	RMSE	143.544	412.77
	NRMSE	2.0474	5.8874
RR	RMSE	245.871	434.997
	NRMSE	3.4764	5.5628