  Path tracking (PT) controllers capable of replicating race driving
techniques, such as drifting beyond the limits of handling, have the potential
of enhancing active safety in critical conditions. This paper presents a
nonlinear model predictive control (NMPC) approach that integrates multiple
actuation methods, namely four-wheel-steering, longitudinal tyre force
distribution, and direct yaw moment control, to execute drifting when this is
beneficial for PT in emergency scenarios. Simulation results of challenging
manoeuvres, based on an experimentally validated vehicle model, highlight the
substantial PT performance improvements brought by: i) vehicle operation
outside the envelope enforced by the current generation of stability
controllers; and ii) the integrated control of multiple actuators.
