Yang Chen Chen

This paper presents a Tube-based Robust Model Predictive Control (Tube-RMPC) strategy for autonomous vehicle control, designed to address model parameter uncertainties and variations in road-tire adhesion coefficients under complex driving conditions. The proposed approach enhances the representation of vehicle dynamics by introducing a unified vehicle-tire modeling framework, capturing nonlinear characteristics more effectively. To facilitate real-time implementation, the model is systematically linearized and discretized, ensuring computational efficiency.