Trajectory tracking for low-speed autonomous vehicles based on MPC and ADRC
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
Published online on May 14, 2026
Abstract
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Ahead of Print.
This paper proposes a model predictive control (MPC)-based trajectory tracking controller with active disturbance rejection control (ADRC) feedback to reduce the lateral tracking errors of autonomous vehicles caused by simplified kinematic models. The ...
This paper proposes a model predictive control (MPC)-based trajectory tracking controller with active disturbance rejection control (ADRC) feedback to reduce the lateral tracking errors of autonomous vehicles caused by simplified kinematic models. The ...