A Novel Discrete-Time Sliding Mode Technique and its Application to a HDD Dual-Stage Track-Seek and Track-Following Servo System

Herrmann, G. and Edwards, C. and Hredzak, B. and Venkataramanan, V. and Spurgeon, S.K. (2008) A Novel Discrete-Time Sliding Mode Technique and its Application to a HDD Dual-Stage Track-Seek and Track-Following Servo System. International Journal of Adaptive Control and Signal Processing, 22 (4). pp. 344-358. ISSN 0890-6327. (The full text of this publication is not available from this repository)

The full text of this publication is not available from this repository. (Contact us about this Publication)
Official URL
http://dx.doi.org/10.1002/acs.992

Abstract

A novel approach for the design of a discrete-time sliding mode controller is presented showing that the dynamics of a sliding-mode state-feedback controller can be designed using a singular LQR approach. The weighting of the control signal is set to zero and dead-beat behaviour for the sliding mode reaching dynamics is achieved. The reaching dynamics are modified when the states are a significant distance away from the sliding surface to avoid any high magnitude control action due to the partial dead-beat approach. The control law also takes into account the constraints on the actuator amplitudes and a stability analysis is presented using a discrete-time version of the Popov criterion. The control approach is demonstrated in conjunction with a recently developed large-span track-seeking and track-following method for dual-stage actuator systems in a hard disk drive (HDD). It is shown how the discrete-time sliding mode control scheme can be incorporated into the observer-based control system for the secondary actuator. Superior performance for the track-seeking and track-settling process is demonstrated using an existing practical set-up of a dual-stage HDD servo system. Copyright (C) 2007 John Wiley & Sons, Ltd

Item Type: Article
Uncontrolled keywords: dual-stage control; hard disk drives; discrete-time control; sliding mode control; nonlinear control
Subjects: T Technology > TA Engineering (General). Civil engineering (General) > TA166 Instrumentation
Divisions: Faculties > Science Technology and Medical Studies > School of Engineering and Digital Arts > Instrumentation, Control and Embedded Systems
Depositing User: J. Harries
Date Deposited: 17 Apr 2009 13:52
Last Modified: 31 Jul 2012 10:58
Resource URI: http://kar.kent.ac.uk/id/eprint/13314 (The current URI for this page, for reference purposes)
  • Depositors only (login required):