A five-stage progressive study of modern automatic control applied to the Double Inverted Pendulum on a Cart (DIPC). Each Funwork explores one core topic: Lyapunov stability theory, optimal LQR design ...

Abstract: This study introduces an Adaptive Model Predictive Control (AMPC) framework for intelligent trajectory planning in autonomous vehicles navigating complex and dynamic highway environments.

Abstract: Autonomous navigation in unstructured off-road environments faces fundamental challenges from terrain-induced dynamics, multi-axle complexity, and computational intractability. This paper ...