An Iterative Learning Control Design for Self-Servowriting in Hard Disk Drives

Wu, Shang-Chen; Tomizuka, Masayoshi

doi:10.3182/20080706-5-kr-1001.00144

Cited by 12 publications

(11 citation statements)

References 4 publications

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“…From Corollary 4, it can be seen that (30), (31), and (32) are LMIs in Q and/or , which are required by the convergence conditions (11), (24), and (25). This implies that the feasibility of these LMIs can be applied to examine whether there exist gain matricesˆ, ‰, and to satisfy the matrix inequalities (11), (24), and (25).…”

Section: Remarkmentioning

confidence: 99%

“…In fact, these promising developments mainly benefit from that ILC is effective in obtaining perfect tracking of any given finite-time interval trajectory. As demonstrated in the surveys [21][22][23], this feature also yields that ILC has been widely applied to deal with many practical problems arising from, for example, chemical processes [24][25][26], industrial automation [27][28][29], and servo control [30][31][32]. It is worth noting that such applications norm) of A if it is a vector (respectively, matrix), kAk F is the Frobenius norm (or F-norm) of matrix A, A > 0 denotes a nonnegative matrix whose elements are all nonnegative, A 0 (respectively, A 0) denotes a positive-definite (respectively, negative-definite) matrix, and A˝B (respectively, A ı B) denotes the Kronecker (respectively, Hadamard) product of A and B.…”

Section: Introductionmentioning

confidence: 99%

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Formation control for multi‐agent systems through an iterative learning design approach

Meng

Jia

2012

Intl J Robust & Nonlinear

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SUMMARYThis paper deals with formation control problems for multi‐agent systems by using iterative learning control (ILC) design approaches. Distributed formation ILC algorithms are presented to enable all agents in directed graphs to achieve the desired relative formations perfectly over a finite‐time interval. It is shown that not only asymptotic stability but also monotonic convergence of multi‐agent formation ILC can be accomplished, and the convergence conditions in terms of linear matrix inequalities can be simultaneously established. The derived results are also applicable to multi‐agent systems that are subject to stochastic disturbances and model uncertainties. Furthermore, the feasibility of convergence conditions and the effect of communication delays are discussed for the proposed multi‐agent formation ILC algorithms. Simulation results are given for uncertain multi‐agent systems to verify the theoretical study. Copyright © 2012 John Wiley & Sons, Ltd.

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Section: Remarkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Formation control for multi‐agent systems through an iterative learning design approach

Meng

Jia

2012

Intl J Robust & Nonlinear

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“…Rejection of periodic disturbances has been a subject of great interest in control theory and engineering applications. Periodic disturbances are present in many applications like robotics [1,2], power inverters [3], power active filters [4], and wind turbines [5], among others.…”

Section: Introductionmentioning

confidence: 99%

LPV Observer-Based Strategy for Rejection of Periodic Disturbances with Time-Varying Frequency

Ramos

Costa‐Castelló

Cortés‐Romero

2015

Mathematical Problems in Engineering

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Rejection of periodic disturbances is an important issue in control theory and engineering applications. Conventional strategies like repetitive control and resonant control can deal adequately with this problem but they fail when the frequency of the disturbance varies with time. This paper proposes a Linear Parameter Varying (LPV) resonant observer-based control for periodic signal rejection which is able to deal with the changes in frequency of the disturbance signal. The observer includes, in an embedded way, an internal model of the disturbance that is based on its harmonic decomposition. In this way, the frequency of the disturbance signal constitutes a parameter that can be adjusted according to the variations of the signal. The resulting disturbance estimation is then used by a control law that cancels the periodic disturbance term while controlling a specified tracking task. The proposed scheme lets the control designer address the disturbance estimation and tracking problems separately. Experimental results, on a mechatronic test bed, show that the proposed LPV resonant observer-based control successfully rejects periodic disturbances under varying frequency conditions.

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“…El control repetitivo es una técnica basada en el principio del modelo interno que ha sido muy eficiente en aplicaciones de control que requieran el seguimiento o rechazo de señales periódicas [1]- [6], una de sus principales debilidades es la necesidad de compensar el comportamiento dinámico de la planta. Ello hace que pueda presentar problemas de robustez en el caso de plantas inciertas.…”

Section: Introductionunclassified

Control GPI-repetitivo para sistemas lineales con incertidumbre/variación en los parámetros

Cortés‐Romero

Ramos-Fuentes

2015

TecnoL.

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El problema de control de sistemas lineales para seguimiento o rechazo de señales periódicas con incertidumbre / variación paramétrica ha sido considerado desde varias perspectivas. Este trabajo presenta una propuesta de combinación de la técnica de control repetitivo con la técnica de control Proporcional Integral Generalizado (GPI). La adecuación y combinación de estas técnicas se realiza en un contexto de tiempo discreto. El control repetitivo se presenta como una técnica, basada en el principio del modelo interno, apta para el rechazo o seguimiento de señales periódicas. Por otra parte, la técnica de control GPI es una estrategia de diseño de controladores robustos lineales capaces de gestionar adecuadamente tanto perturbaciones exógenas de tipo estructurado así como la incertidumbre / variación de planta. Se plantea que el control GPI garantice unas condiciones de estabilidad y desempeño adecuadas para el correcto funcionamiento del control repetitivo sobre plantas lineales que refieran incertidumbre / variación paramétrica. Se presentan adicionalmente análisis de estabilidad y desempeño en términos de la respuesta en frecuencia tomando diferentes escenarios de incertidumbre en los parámetros y graficando las condiciones de estabilidad. Complementariamente, se realizan comparaciones con estrategias clásicas a nivel del control complementario, que han resultado efectivas para problemas de control similares, y se ilustran los análisis por medio de simulaciones.

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An Iterative Learning Control Design for Self-Servowriting in Hard Disk Drives

Cited by 12 publications

References 4 publications

Formation control for multi‐agent systems through an iterative learning design approach

Formation control for multi‐agent systems through an iterative learning design approach

LPV Observer-Based Strategy for Rejection of Periodic Disturbances with Time-Varying Frequency

Control GPI-repetitivo para sistemas lineales con incertidumbre/variación en los parámetros

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