GOALI: Nonlinear Adaptive Control and Sensing with Application to Servo Control of Disk Drives

非线性自适应控制与传感器在磁盘驱动器伺服控制中的应用。Ioannou，主要研究者和A. Despain，合作研究员，Acorn Tech。Inc.依赖于线性时不变模型的控制设计已经达到了一个成熟的水平，往往是限制在许多应用中可能的性能改进，一个经典的例子是硬盘驱动器伺服控制问题。近年来，利用更真实的非线性模型进行非线性控制设计一直是一个活跃的研究领域，产生了许多新的控制方法。尽管取得了这些显著的进步，非线性系统的控制仍然处于起步阶段。本项目的目的是为一类具有部分或完全未知非线性的非线性对象开发非线性自适应控制方法，并保证预定的跟踪精度。这些非线性技术将被用来解决伺服控制问题的硬盘驱动器，这是已知的最具挑战性和令人兴奋的控制问题之一。离散时间对应的连续时间系统的控制方法的开发将产生和实施的磁盘驱动器测试台捐赠给该项目的ACORN技术公司。 非线性自适应控制方法的发展是自动化的基础，尽管环境条件下，在制造中的缺陷，磨损的零件随着时间的推移等，这种复杂的控制技术的实施是可能的，由于电子和低成本，高功率计算工具的可用性的进步，需要高精度和性能。在本项目下开发的非线性自适应控制技术可用于在广泛的应用中将性能范围推到使用传统控制技术可达到的极限之外，从而提高效率和降低成本。例如，更精确地跟踪计算机磁盘驱动器中的数据轨道将允许在磁盘上挤压更多的轨道，从而导致具有相同存储容量的更小尺寸的磁盘。虽然测试所开发的控制技术的主要应用是盘驱动器中的数据磁道的精确跟踪，但是该技术将适用于涉及高精度跟踪和性能的广泛应用。诸如机器人、制造、航空航天、化学和机械系统等领域，尽管制造和环境存在缺陷，但精确跟踪和精确度非常重要，这些领域将受益于拟议的研究。

ABSTRACTGOALI: Nonlinear Adaptive Control and Sensing for Precision Control with Application to Servo Control of Disk DrivesP. Ioannou, Principal Investigator and A. Despain, Co-Investigator, Acorn Tech. Inc. The reliance on linear time invariant models for control design has reached a level of maturity that is often characterized by limitations on possible performance improvements in many applications, a classical example being the hard disk drive servo control problem. The use of more realistic nonlinear models for nonlinear control design has been an active area of research which produced many new control methodologies during the recent years. Despite these remarkable advances, the control of nonlinear systems is still at its infancy. The purpose of this project is the development of nonlinear adaptive control methodologies for a wide class of nonlinear plants with partially or fully unknown nonlinearities with guaranteed pre specified tracking accuracy. These nonlinear techniques will be used to address the servo control problem of hard disk drives which is known to be one of the most challenging and exciting control problems. The discrete time counterparts of the developed control methodologies for continuous time systems will be generated and implemented on a disk drive test bed donated to the project by ACORN Technologies Inc. The development of nonlinear adaptive control methodologies is fundamental to automation where high accuracy and performance is required despite environmental conditions, imperfections in manufacturing, worn out parts with time etc. The implementation of such sophisticated control techniques is now possible due to the advances in electronics and availability of low cost, high power computational tools. Nonlinear adaptive control techniques to be developed under this project can be used to push the performance envelope beyond the limits achievable using traditional control techniques in a wide range of applications leading to higher efficiency and lower cost operations. Tracking the data tracks in a computer disk drive for example more accurately will allow the squeeze of more tracks on a disk leading to smaller size disks with the same storage capacity. While the primary application to test the developed control techniques is the accurate tracking of data tracks in a disk drive, the techniques will be applicable to a wide range of applications involving high accuracy tracking and performance. Areas such as robotics, manufacturing, aerospace, chemical and mechanical systems which involve processes where accurate tracking and precision, despite manufacturing and environmental imperfections, is very crucial will benefit from the proposed research.