LQR Design Considering Control Input Saturation in Cross-Product Term and Its Application to an Automotive Active Suspension Control

교차곱항에 제어입력의 포화를 고려한 LQR 설계 및 자동차 능동 현가장치 제어에의 응용

In this paper, the CLQR(Constrained LQR) controller, which considers the actuator saturation in a cross-product term of a given performance index for an automotive active suspension control has been proposed. The effects of actuator saturations have been reflected directly in the states by using the linear relation between the control input and states. The method proposed here is more effective and intuitive compared with the conventional schemes. The CLQR has been applied to designing an automotive active suspension control system to verify its effectiveness and practical aspects.