This paper proposes a control strategy for the design of an automated steering control for an autonomous electric vehicle. The proposed Active Disturbance Rejection Control (ADRC) with Model Predective Control (MPC) is not only capable of alleviating the disturbance but also shows robustness against structured uncertainties which may arise due to models that represent the vehicle dynamics. Simulations have been carried out to assess the effectiveness of the proposed control strategy. Simulation results show that the proposed scheme is better in terms of tracking performance than MPC and ADRC. The steering control system, with the proposed strategy, can achieve faster response, higher tracking accuracy, and improved robustness performance in dealing with model uncertainties and external disturbances.

本文提出了一种用于自主电动汽车自动转向控制设计的控制策略。所提出的带有模型预测控制（MPC）的主动扰动抑制控制（ADRC）不仅能够缓解扰动，而且还具有针对代表车辆动力学的模型而可能出现的结构化不确定性的鲁棒性。已经进行了仿真以评估所提出的控制策略的有效性。仿真结果表明，该方案在跟踪性能上优于MPC和ADRC。利用所提出的策略，转向控制系统可以在处理模型不确定性和外部干扰时实现更快的响应，更高的跟踪精度和更高的鲁棒性。