Path tracking and stability integrated control for autonomous vehicles based on adaptive robust model predictive control
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
Published online on January 18, 2026
Abstract
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Ahead of Print.
To enhance the path-tracking performance and stability of autonomous vehicles (AVs), this paper proposes an adaptive robust model predictive control (ARMPC) strategy. First, a path-tracking model is established by integrating a two-degree-of-freedom (2-...
To enhance the path-tracking performance and stability of autonomous vehicles (AVs), this paper proposes an adaptive robust model predictive control (ARMPC) strategy. First, a path-tracking model is established by integrating a two-degree-of-freedom (2-...