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Sustained drift of electric vehicles using equilibrium compensation model predictive control considering disturbance rejection
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DOI：10.1080/00423114.2026.2696454.png)
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Abstract
En 中文
Autonomous drift control aims to maintain the vehicle states around drift equilibrium conditions, thereby extending the feasible range of vehicle motion control. In this study, an equilibrium compensation framework applicable to vehicle drift control is employed, and a corresponding drift control strategy is proposed under this framework to achieve sustained and stable drift manoeuvres under external disturbances. First, the principles and assumptions of the equilibrium compensation framework are presented, followed by the development of a vehicle dynamics model and an analysis of drift mechanisms and equilibrium states. Based on this foundation, an equilibrium compensation-based model predictive control strategy is designed, along with a controller based on wheel speed dynamics, to enable real-time updates of the reference drift equilibrium and execution of drift manoeuvres. Finally, the effectiveness and feasibility of the proposed control strategy are validated through rapid prototyping experiments. Various test results show that the proposed controller exhibits superior performance in realising continuous and stable drift manoeuvres in comparison with existing advanced control strategies, even under the disturbance.
Keywords:
Autonomous drift
disturbance estimation
disturbance rejection
electric vehicle
model predictive control
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3.1K
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