are rated based on 1kW/m2 of insolation. So each of your panels will generate 100w if exposed to 1kW/m2. VERY ROUGHLY, an average of 5-6 kWh/ms per day means in essence that your panels, if oriented to follow the sun will generate a maximum of 5-600W/hrs per day, so all 4 will generate 2-2.4kW/hrs per day. Assuming you are using a 12 volt system, that is 166-200 amp hrs per day.
With fixed panels which are not pointed directly at the sun, you will get a lot less - more likely around 100 amp hrs per day.
Edit: I see that NREL data is for "latitude tilted" panels - so the figures are for fixed panels set at an angle equal to the latitude, not moveable panels always oriented to the sun. In that case, you may get a bit more than that 100 amp hours on average if you orient and tilt your panels appropriately.