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

Herrmann, G., Edwards, Christopher, Hredzak, B., Venkataramanan, V., Spurgeon, Sarah 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. (doi:10.1002/acs.992) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided) (KAR id:13314)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided.
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
DOI/Identification number: 10.1002/acs.992
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) > TA165 Engineering instruments, meters etc. Industrial instrumentation
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User: J. Harries
Date Deposited: 17 Apr 2009 13:52 UTC
Last Modified: 16 Nov 2021 09:51 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/13314 (The current URI for this page, for reference purposes)

University of Kent Author Information

Spurgeon, Sarah K..

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