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eess.SY2026
IMU-Centric Moving Horizon Estimation for Lateral Dynamics Estimation Across Vehicles and Grip Conditions
Seuffo Akouan ha Ngoune, Alessandro Toschi, Paolo Burgio +1
Accurate estimation of lateral vehicle dynamics near the adhesion limit is important for stability control and high-performance driving, but lateral velocity is rarely measured dir…
eess.SY2023
A Tricycle Model to Accurately Control an Autonomous Racecar with Locked Differential
Ayoub Raji, Nicola Musiu, Alessandro Toschi +7
In this paper, we present a novel formulation to model the effects of a locked differential on the lateral dynamics of an autonomous open-wheel racecar. The model is used in a Mode…