# Estimation of Vertical, Lateral, and Longitudinal Tire Forces in Four-Wheel Vehicles Using a Delayed Interconnected Cascade-Observer Structure

> Research article (IEEE/ASME Transactions on Mechatronics, 2019) · cited 40× · AI/ML

**Wikidata**: [openalex:W2913232716](https://www.wikidata.org/wiki/openalex:W2913232716)  
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