Research Papers

Dynamic Adaptive Robust Backstepping Control Design for an Uncertain Linear System

[+] Author and Article Information
Hadi Hajieghrary

Scalable Autonomous Systems Lab,
Drexel University,
Philadelphia, PA 19104
e-mail: Hadi.Hajieghrary@drexel.edu

M. Ani Hsieh

Associate Professor
Scalable Autonomous Systems Lab,
Drexel University,
Philadelphia, PA 19104
e-mail: MHsieh1@drexel.edu

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 30, 2015; final manuscript received February 24, 2016; published online May 9, 2016. Assoc. Editor: Fu-Cheng Wang.

J. Dyn. Sys., Meas., Control 138(7), 071004 (May 09, 2016) (8 pages) Paper No: DS-15-1049; doi: 10.1115/1.4033019 History: Received January 30, 2015; Revised February 24, 2016

This paper builds on the existing adaptive robust control (ARC) synthesis method introduced by Yao et al. and presents a new method to synthesize ARCs. Based on dynamic backstepping, the approach explicitly addresses the uncertain dynamics which enters into the system via the higher-order channels of the state-space model. As such, the proposed dynamic ARC (D-ARC) method addresses the inherent weakness of the original approach where uncertainty in the higher-order channels is ignored. The proposed approach is illustrated in simulations for controlling a voice coil motor (VCM) actuator that serves as a read/write head for a single-stage hard disk drive (HDD). The effectiveness of the resulting D-ARC controller is validated by considering the transient performance, tracking errors, and disturbance rejection of the VCM operating in both the track-seeking and track-following modes.

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Grahic Jump Location
Fig. 1

The overall schematic of the linear uncertain system

Grahic Jump Location
Fig. 2

The frequency response estimates of VCM system given by Eq. (18) including voltage-to-current converter (dotted), high-order nominal model (solid), and the reduced model (dashed). The figure was produced using data provided in Refs. [12] and [19].

Grahic Jump Location
Fig. 3

Tracking performance of VCM controlled with first-order D-ARC: (a) VCM input voltage and (b) VCM tracking performance

Grahic Jump Location
Fig. 4

Tracking error of VCM controlled with first-order D-ARC: (a) tracking error of VCM controlled with first-order D-ARC and (b) runout error due to the output disturbance

Grahic Jump Location
Fig. 5

Adaptation parameter variation in track-seeking/track-flowing mode



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