Abstract
A multi-actuation model predictive controller is designed to improve the stability of the performance vehicles during high-speed maneuvers. The actuators included in this study are four electric motors for the wheels and two active aerodynamic wings at the front and rear of the vehicle. The designed controller integrates optimal corner torque allocation with an optimal active aerodynamics control system. A model predictive control scheme is used to adjust the air wings angle of attack and optimize the corner torques. A high-level constraint adjustment module is added to the controller to observe nonlinear tire behavior and optimize aerodynamic wings activation as required. Nonlinear tire behavior and actuator dynamics are considered and included in the prediction model. The controller performance is verified in simulation with MATLAB/Simulink and CarSim.
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