Friction-Aware Linear MPC with Lateral-Slip Constraint Back-Off for Vehicle Stability and Path Following

Abstract

This simulation-based study evaluates a friction-aware linear model predictive controller for vehicle path following and stability under reduced tire-force capacity. The final controller combines a capacity-aware prediction model with a fixed 4.4 degree internal lateral-slip back-off, and is evaluated against fixed-MPC and no-ESC baselines under reduced-capacity, parameter-mismatch, and high-speed stress-test scenarios.

Citation

@article{fakouri2026frictionmpc,
  title = {Friction-Aware Linear MPC with Lateral-Slip Constraint Back-Off for Vehicle Stability and Path Following},
  author = {Fakouri, Mohammad-Hossein and Ghaffari, Mohsen},
  journal = {Journal-neutral master manuscript complete; pre-submission metadata and target-journal formatting remaining},
  year = {2026}
}