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A Learning-and-Tube-Based Robust Model Predictive Control S..:

Hou, Zhuoran ; Chu, Liang ; Guo, Zhiqi...
IEEE Transactions on Intelligent Vehicles.  9 (2024)  1 - p. 579-592 , 2024
Link: https://doi.org/10.1109/tiv.2023.3331268