Control unstable and shaky

[MrOCW]

Hi, are there any tips on which parameters to tune to improve the stability of the control?
I am converting ackermann to a differential command on a skid steer robot and there are occasions where it shakes laterally and occasionally spins out of control (see image) where the steering angle is larger than the max_steer_angle value given in the vehicle_info.

[maxime-clem]

There are instructions on how to tune the parameters of the MPC used by the lateral controller.

If despite tuning you cannot get good tracking performance, you may be interesting in a new Nonlinear MPC controller that is not yet finalized but can already be tested with Autoware.