• Journal of the Korean Society for Precision Engineering
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• v.16 no.5 s.98
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• pp.169-174
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• 1999

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.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.3
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• pp.193-200
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• 2004

The Active Constrained Layer Damping(ACLD) combines the simplicity and reliability of passive damping with the low weight and high efficiency of active control to attain high damping characteristics. The proposed ACLD treatment consists of a viscoelastic damping which is sandwiched between an active piezoelectric layer and a host structure. In this manner, the smart ACLD consists of a Passive Constrained Layer Damping(PCLD) which is augmented with an active control in response to the structural vibrations. The arc type shell model is introduced to describe the interactions between the vibrating host structure, piezoelectric actuator and viscoelastic damping. The system is modeled by applying ARMAX model and changing a state-space form through the system identification method. An optimum control law for the piezo actuator is obtain by LQR(Linear Quadratic Regulator) method. The performance of the ACLD system is determined and compared with PCLD in order to demonstrate the effectiveness of the ACLD treatment. Also, the actuation capability of a piezo actuator is examined experimentally by varying thickness of viscoelastic material(VEM).

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.1032-1038
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• 2002

The Active Constrained Layer Damping(ACLO) combines the simplicity and reliability of passive damping with the low weight and high efficiency of active control to attain high damping characteristics. The proposed ACLD treatment consists of a viscoelastic damping which is sandwiched between an active piezoelectric layer and a host structure. In this manner, the smart ACLD consists of a Passive Constrained Layer Damping(PCLD) which is augmented with an active control in response to the structural vibrations. The Arc type shell model is introduced to describe the interactions between the vibrating host structure, piezoelectric actuator and visco damping, The system is modeled by applying ARMAX model and changing a state-space form through the system identification method. An optimum control law for piezo actuator is obtain by LQR(Linear Quadratic Regulator) Method. The performance of ACLD system is determined and compared with PCLD in order to demonstrate the effectiveness of the ACLD treatment, Also, the actuation capability of a piezo actuator is examined experimentally by using various thickness of Viscoelastic Materials(VEM).

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.4
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• pp.305-316
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• 2014

As avionics and mechanical devices have been developed, the size of unmanned aerial vehicle (UAV) is getting smaller. However, the complicated and accurate missions are provided to the UAV. Among various types of UAVs, quadrotors are widely used for their availability by virtue of simple structure and hovering function. However, the control of quadrotor is highly constrained, because the quadrotor is an under-actuated system which has only 4 actuator inputs. To deal with this under-actuated problem, a new quadrotor model with two more actuators in addition to the 4 propeller inputs is provided to make the system fully-actuated. For the proposed model, a controller is designed using feedback linearization methods. To validate the model and to verify the performance of the proposed controller, numerical simulation is performed.