# Robust Model Predictive Control for Autonomous Vehicles/Self Driving Cars

arXiv: https://arxiv.org/abs/1805.08551 · HTML: https://mlsanity.com/paper/1805.08551/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 22 May 2018.

## Built on by (most cited first, 1 of 1)

- [TC-Driver: Trajectory Conditioned Driving for Robust Autonomous Racing -- A Reinforcement Learning Approach](https://mlsanity.com/paper/2205.09370/) (2022)

## Abstract (arXiv)

A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight tuning, a successive on-line linearization of a nonlinear vehicle model to track position error and successive on-line linearization to track velocity error. Results of the effectiveness of each method in terms of accuracy and computational load are discussed.