Joan P. Lazaro

Vehicle Trajectory Tracking Control Using MIMO-MPC Combined with IMM-AUKF Road Adhesion Coefficient Estimation

This study investigates a simulation-based estimation–control chain that integrates an interactive multiple model adaptive unscented Kalman filter (IMM-AUKF) with a multiple-input multiple-output model predictive controller (MIMO-MPC). A seven-degree-of-freedom vehicle model and a Pacejka tire model are used to represe...