Dual-Envelope Constrained Nonlinear MPC for Distributed Drive Electric Vehicles Drifting Under Bounded Steering and Direct Yaw-Moment Control. - Yurun Gan; Ziyu Song; Jing Yang 054; Zheng Lin 001; Jianuo Zhang; Tongtong Gu; Haitao Ding; Nan Xu; Lip Yee Por; Wei Ni 001; Jun Luo 001 (CoRR, 2026)