A Lyapunov-constrained model predictive control framework for stable trajectory tracking of autonomous vehicles
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
Published online on March 24, 2026
Abstract
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Ahead of Print.
Accurate and stable trajectory tracking is a key challenge for autonomous vehicles due to their highly nonlinear dynamics and multiple physical constraints. Conventional control methods often struggle to ensure closed-loop stability while satisfying these ...
Accurate and stable trajectory tracking is a key challenge for autonomous vehicles due to their highly nonlinear dynamics and multiple physical constraints. Conventional control methods often struggle to ensure closed-loop stability while satisfying these ...