  A robust Model Predictive Control (MPC) approach for controlling front
steering of an autonomous vehicle is presented in this paper. We present
various approaches to increase the robustness of model predictive control by
using weight tuning, a successive on-line linearization of a nonlinear vehicle
model to track position error and successive on-line linearization to track
velocity error. Results of the effectiveness of each method in terms of
accuracy and computational load are discussed.
