Initial value compensation applied to disturbance observer-based servo control in HDD

Oboe, Roberto; Federico, Martın Di

doi:10.1109/amc.2002.1026887

Cited by 19 publications

(9 citation statements)

References 4 publications

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“…In practice, two different outer loops are implemented and the switch between the two is driven by the longitudinal speed and distance from the arrival. This is a typical case of Mode Switching Control (MSC), for which a particular care must me taken to avoid unwanted transients [19]. This issue has not been addressed in the current implementation of the control for RUMBy.…”

Section: Control and Actuationmentioning

confidence: 99%

Development of a reduced size unmanned car

Bertolazzi

Bosetti

Cecco

et al. 2008

2008 10th IEEE International Workshop on Advanced Motion Control

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This article describes the overall system design of a reduced size autonomous vehicle and focuses on the control strategy which is based on a Nonlinear Receding Horizon Control (NRHC) algorithm. The NRH planner is called by a high level manager, in the outer control loop, to solve a sequence of optimal control problems. The planned motion provide a sequence of reference set points for the faster inner control loop until a new plan is available. The lateral motion is controlled through the steering command by tracking the yaw rate reference. The longitudinal motion is controlled by means of the throttle/braking coupled command by tracking the planned forward speed profiles. The paper discusses the results of some simulation results. The project description proceeds as follows: Section II describes the system architecture from vehicle and communication to software. Section III and IV details the motion planning and control algorithms. In Section V the simulation results regarding the NRH based controller are discussed

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Section: Control and Actuationmentioning

confidence: 99%

Development of a reduced size unmanned car

Bertolazzi

Bosetti

Cecco

et al. 2008

2008 10th IEEE International Workshop on Advanced Motion Control

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“…In particular, when control is switched from seek mode to positioning mode, the transient response of the control signal degrades the HDD performance. Regarding this problem, methods have been proposed to reduce the switching transient response by optimal initial setting of the feedback controller [1][2][3]. There has also been a proposal to reduce the transient response by correcting the models used for head velocity estimation, and generation of a reference control signal based on the feedback controller output during seek operation [8].…”

Section: Introductionmentioning

confidence: 99%

Long‐span seek control system for hard disk drive without mode‐switching

Takakura

2010

Electrical Engineering Japan

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SUMMARYIn hard disk drives (HDD) there are two control modes: the head positioning control mode and the other is the seek control mode. In the head positioning control mode, a feedback controller is optimally designed to suppress disturbances. In the long-span seek mode, a velocity feedback control system is applied in order to move the heads fast. Thus, an HDD has multiple control systems, and the head is moved to the target position while changing from one control system to the other. However, changing the control system causes a discontinuous control signal, which activates the resonant mode of an actuator. Past methods can only decrease discontinuous control, and therefore a single control system that can be used for both a seek control mode and a head positioning control mode is necessary for a narrow track pitch. In the proposed method, the feedback controller is decomposed into an integrator and a phase compensator. The VCM model is updated by the output of the phase compensator, and the integrator and the output of the velocity feedback controller control the VCM. The validity of the proposed method was confirmed by numerical and experimental results using a miniature 2.5-inch hard disk drive.

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“…Switched control strategy has been widely used in the design of automatic control systems to deal with plant dynamics, handle constraints, and improve performance; for example, see [11], [16], [19], [4], [18], [13], [3]. Naturally, some simple and practical low-cost analytical/numerical tools rather than exhaustive simulations or expensive experiments are highly desired for verifying stability and system performance.…”

Section: Introductionmentioning

confidence: 99%

Dwell-time approach to input-output stability properties for discrete-time linear hybrid systems

Chaohong Cai

2011

Proceedings of the 2011 American Control Conference

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Motivated by studying a sampled-data (or discrete-time) version of switched linear systems, we consider a class of time-varying dynamical systems that consist of switching of a number of discrete-time linear time-invariant (sub)systems. For these systems, we propose LMI (Linear Matrix Inequality) formulations of analyzing their input-output stability properties, including both ℓ-2 stability and passivity, by constraining switching signals via the concept of dwell time. As a natural byproduct, we provide a numerical procedure of optimally computing ℓ-2 bounds with respect to dwell time for switched linear systems in the discrete-time setting. Finally, the LMI formulation of ℓ-2 stability is applied to evaluating control system performance for an industrial refrigeration process that is regulated by several switched proportional-integral (PI) controllers.

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Initial value compensation applied to disturbance observer-based servo control in HDD

Cited by 19 publications

References 4 publications

Development of a reduced size unmanned car

Development of a reduced size unmanned car

Long‐span seek control system for hard disk drive without mode‐switching

Dwell-time approach to input-output stability properties for discrete-time linear hybrid systems

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