arxivcs.ROeess.SY2026-07-11
Diffusion-Residual Model Predictive Steering Control for Vehicle Stabilization at the Limit of Handling under Model Uncertainty
At the limit of handling, a stabilizing MPC depends on the yaw-rate reference it tracks and the stable-handling envelope it enforces, both operating-point-dependent and unknown a priori, so fixed or worst-case settings are either too conservative or unsafe. We learn this uncertai…