# Tube-based nonlinear model predictive control for autonomous skid-steer mobile robots with tire–terrain interactions

> Research article (Control Engineering Practice, 2020) · cited 59× · AI/ML

**Wikidata**: [openalex:W3030584295](https://www.wikidata.org/wiki/openalex:W3030584295)  
**Source**: https://4ort.xyz/entity/tube-based-nonlinear-model-predictive-control-for-autonomous-skid-steer-mobile-robots-with-tireterrain-interactions