The extended dual-envelope NMPC enables smoother drifting convergence and cuts steady-state tracking errors in speed, sideslip angle, and yaw rate by 33%, 71%, and 31% respectively in hardware tests.
Extended stability envelopes and effectiveness quantification for integrated chassis control with multiple actuator configurations in the energy phase plane,
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Dual-Envelope Constrained Nonlinear MPC for Distributed Drive Electric Vehicles Drifting Under Bounded Steering and Direct Yaw-Moment Control
The extended dual-envelope NMPC enables smoother drifting convergence and cuts steady-state tracking errors in speed, sideslip angle, and yaw rate by 33%, 71%, and 31% respectively in hardware tests.