【摘要】 针对车辆路径跟踪模型预测控制器因车辆模型参数不精确导致跟踪精度下降的问题，提出了一种基于自抗扰(Active Disturbance Rejection Control, ADRC)补偿的模型预测控制路径跟踪策略。首先建立车辆三自由度动力学模型，基于模型预测控制理论设计路径跟踪控制器，获得车辆路径跟踪前轮转角；然后设计自抗扰控制器对前轮转角进行补偿，并对自抗扰控制器重要参数进行优化整定。在CarSim-Simulink联合仿真平台中设计不同工况进行仿真测试验证。结果表明，该控制策略可提升车辆路径跟踪精度，减小因车辆模型参数不精确产生的路径跟踪误差。更多还原

【Abstract】 A model predictive control(MPC)-based path-following strategy with active disturbance rejection control(ADRC) compensation is proposed to address the issue of reduced tracking accuracy caused by inaccurate vehicle model parameters in MPC path-following controllers. Initially, a three-degree-of-freedom vehicle dynamics model is established. The path-following controller is designed based on MPC theory to obtain the front wheel steering angle for path tracking. Subsequently, an ADRC is designed to compensate for the front wheel steering angle, with its key parameters being optimized. The control strategy is validated through simulations under various conditions in the CarSim-Simulink co-simulation platform. Results indicate that this control strategy can enhance the path-following accuracy and reduce the tracking error caused by inaccurate vehicle model parameters.更多还原