Adaptive sliding mode control of a disk drive actuator

Author

Weerasooriya, S. ; Low, T.S.

Author_Institution

Magnetics Technol. Center, Nat. Univ. of Singapore, Singapore

fYear

1993

fDate

15-16 Jul 1993

Firstpage

177

Lastpage

182

Abstract

This paper presents the design of a time optimal variable structure controller for seeking and tracking the read/write heads of a computer hard disk. The controller is robust to both parameter variations and unmodeled dynamics. It also introduces a sufficiently high bandwidth to enable accurate track following in the presence of runout. Control chatter during seeking is reduced through the introduction of a boundary layer around the switching surface. The controller performance is evaluated against a conventional proximate time optimal servo (PTOS) control structure. Time and frequency domain simulations provide proof of the superior robustness and runout performance of the variable structure controller

Keywords

adaptive control; electric actuators; frequency-domain analysis; hard discs; optimal control; stability; time-domain analysis; variable structure systems; adaptive sliding mode control; boundary layer; computer hard disk; control chatter; disk drive actuator; frequency-domain simulations; parameter variation robustness; proximate time optimal servo control structure; read/write heads; runout; switching surface; time optimal variable structure controller; time-domain simulations; unmodeled dynamics robustness; Actuators; Adaptive control; Bandwidth; Disk drives; Hard disks; Optimal control; Programmable control; Robust control; Servomechanisms; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Motion Control Proceedings, 1993., Asia-Pacific Workshop on Advances in

Print_ISBN

0-7803-1223-6

Type

conf

DOI

10.1109/APWAM.1993.316213

Filename

316213