MPC-based Steady-state Drift Control under Extreme Condition

This paper proposes a steady-state drift control strategy based on model predictive control(MPC). A three-degree-of-freedom vehicle model is established to calculate the equilibrium state of steady-state drift. The equation of deviation vehicle dynamics is used to track the equilibrium state. Carsim/Simulink joint simulation is carried out, and the results show that the controller is able to control the steady-state drift of the vehicle accurately. The influence of variation of road adhesion coefficient on vehicle steady-state drift is also analyzed.