The　efficiency　and　dynamic　response　of　air　compressors　are　crucial　for　stability　and　lifespan　of　hydrogen　fuel　cells.　A　predictive　control　scheme　with　surge-　and　choke-constrained　awareness　is　proposed　to　ensure　safe　and　efficient　operation　of　air　compressors　in　this　study.　The　proposed　scheme　consists　of　an　efficiency　enhancement　model　predictive　control　(EE-MPC),　and　an　improved　active　disturbance　rejection　control　(IADRC).　Surge-　and　choke-constrained　awareness　is　achieved　by　comparing　predicted　air　flow　with　surge　and　choke　limitations.　Simultaneously,　the　EE-MPC　is　constrained　with　oxygen　excess　ratio　(OER)　and　obtains　optimal　solution　by　searching　active　set.　The　reference　flow　and　supply　manifold　pressure　trajectories　for　IADRC　are　generated　by　EE-MPC.　A　designed　piecewise　differentiable　nonlinear　smoothing　function　is　embedded　in　IADRC.　The　disturbances　are　estimated　for　coordinating　flow　and　pressure　control.　Under　China　heavy-duty　commercial　vehicle　test　cycle　for　bus　conditions,　root-mean-squared　errors　(RMSEs)　of　flow　and　pressure　are　3.27 g s−1　and　1.88 × 103 Pa,　respectively,　and　the　mean　efficiency　can　be　enhanced　by　13.4%　compared　to　the　MPC　with　fixed　OER.　Finally,　a　controller　hardware-in-the-loop　test　is　conducted,　with　flow　and　pressure　RMSEs　of　2.48 g s−1　and　4.28 × 103 Pa　between　the　test　and　simulation,　respectively.　©　2024　Wiley-VCH　GmbH.