Robust friction compensation in HDDs

Author

Wang, Zhi ; Du, Chunling

Author_Institution

Hitachi Global Storage Technol., San Jose, CA

fYear

2009

fDate

14-16 Jan. 2009

Firstpage

1

Lastpage

2

Abstract

Friction compensation via position measurement only in hard disk drives (HDD) is considered in this paper. A robust nonlinear adaptive controller is designed which uses only the motor position (i.e., the output) for feedback and does not require knowledge of electromechanical system parameters, such as parameters in the friction model, rotor inertia, etc. Reduced-order Lunberger observer is introduced and observer-based backstepping procedure is carried out in this paper. Simulation results are depicted to show the performance of the advocated controller.

Keywords

adaptive control; disc drives; electromechanical effects; friction; hard discs; magnetic heads; nonlinear control systems; robust control; HDD system; electromechanical system parameters; hard disk drives; motor position; observer-based backstepping procedure; reduced-order Lunberger observer; robust friction compensation; robust nonlinear adaptive controller design; rotor inertia; Adaptive control; Electromechanical systems; Friction; Hard disks; Nonlinear control systems; Output feedback; Position measurement; Programmable control; Robust control; Robustness; Friction compensation; hard disk drive; observer; robust nonlinear control;

fLanguage

English

Publisher

ieee

Conference_Titel

Magnetic Recording Conference, 2009. APMRC '09. Asia-Pacific

Conference_Location

Singapore

Print_ISBN

978-9810-82191-3

Type

conf

DOI

10.1109/APMRC.2009.4925378

Filename

4925378