This work addresses the problem of robust tracking control for skid-steer mobile platforms,
using tube-based Nonlinear Model Predictive Control. The strategy seeks to mitigate the …

Strategies to reduce slippage and disturbing wheel-terrain interactions are essential to
improve navigation and motion control of field robots. Thus, this work proposes an integral …

Nonlinear effects and external disturbances can severely impact the control of an
autonomous race car at the handling limits. State-of-the-art approaches do not take these …

The research works carried out in this paper deal with the control of a fast double-steering off-
road mobile robot. Such kind of robots requires very high stable and accurate controllers …

This paper develops a new constrained model predictive control for a dynamic path tracking
of an off-road mobile robot with a double steering axle. The controller is based on a dynamic …

Model Predictive Controller (MPC) is widely used as a technique for path tracking control
since it allows for dealing with system constraints and future forecasts. However, the …

In order to safely navigate highly dynamic scenarios, automated vehicles must be able to
react quickly to changes in the environment and be able to understand trade-offs between …

This paper proposes a linear predictive lateral control method to stabilise a highly
automated vehicle (HAV) at the tire-road friction limits when tracking a (tight) desired path …

Electronic vehicle dynamics systems are expected to evolve in the future as more and more
automobile manufacturers mark fully automated vehicles as their main path of development …

Vehicle dynamics can be deeply affected by various tyre operating conditions, including
thermodynamic and wear effects. Indeed, tyre temperature plays a fundamental role in high …