Preprint
Oct 2026
Online Constraint Optimization-Based Indirect-Adaptive Robust Control for Autonomous Vehicles with Unknown Friction
Friction uncertainty is a significant challenge for autonomous vehicle control, undermining feasibility and performance. This paper proposes a novel two-layer control framework to achieve vehicle motion control under large friction uncertainty by combining optimization-based planning with indirect adaptive robust contr...
Yu-Peng Zhou, I-Chia Chang, Zi-Ran Wang et al.
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