Title :
Adaptive robust controller synthesis for hard disk servo systems
Author :
Taghirad, H.D. ; Jamei, E.
Author_Institution :
Dept. of Electr. Eng., K.N.Toosi Univ. of Technol., Tehran, Iran
fDate :
28 Sept.-2 Oct. 2004
Abstract :
Adaptive robust controller is proposed for read/write head systems for hard disk drives (HDD). This structure can be applied to both track seeking and track following modes, and it makes the mode switching control algorithms proposed in conventional HDD servo system unnecessary. This controller theoretically guarantees a prescribed transient performance and tracking in presence of parametric uncertainties. An improved desired compensation ARC (IDCARC) scheme is then proposed, which has powered by a dynamic adaptive term compared to DCARC. The regressor is calculated using reference trajectory information. This has been done by structural vibration minimized acceleration trajectory control method. Simulation result show that the dynamic adaptation mechanism in IDCARC provide better performance compared to that of ARC, DCARC and the conventional servo system with mode switches control law.
Keywords :
acceleration control; adaptive control; compensation; control system synthesis; disc drives; hard discs; position control; robust control; servomechanisms; time-varying systems; vibration control; acceleration trajectory control method; adaptive control; hard disk drive servo system; improved desired compensation; mode switching control algorithm; read/write head system; reference trajectory information; robust controller synthesis; Adaptive control; Adaptive systems; Control system synthesis; Control systems; Hard disks; Programmable control; Robust control; Servomechanisms; Uncertainty; Vibration control;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389552
