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

GOALI：非线性自适应控制和传感在磁盘驱动器伺服控制中的应用

• 批准号: 0510921
• 负责人: Petros Ioannou
• 金额: --
• 依托单位: University of Southern California
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-08-15 至 2010-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0510921&HistoricalAwards=false
• 关键词: GOALI; Nonlinear; Adaptive; Control; Sensing

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.

AbstractGoali：非线性自适应控制和传感，用于精确控制，并应用磁盘驱动器的伺服控制。 Ioannou，首席研究员和A. Despain，Acorn Tech的共同投资者。 Inc.对控制设计的线性时间不变模型的依赖已达到成熟度，通常其特征是许多应用程序中可能的性能改进的限制，一个经典的示例是硬盘驱动伺服控制问题。非线性控制设计更现实的非线性模型一直是一个活跃的研究领域，在近年来产生了许多新的控制方法。尽管有这些显着的进步，但对非线性系统的控制仍处于起步阶段。该项目的目的是开发针对具有部分或完全未知的非线性的广泛非线性植物的非线性自适应控制方法，具有保证的预指定跟踪准确性。这些非线性技术将用于解决硬盘驱动器的伺服控制问题，这是最具挑战性和令人兴奋的控制问题之一。连续时间系统开发的控制方法的离散时间将在磁盘驱动器测试床上生成和实施电子和低成本，高功率计算工具的可用性。在该项目下要开发的非线性自适应控制技术可用于将性能信封超出可在广泛的应用中使用传统控制技术实现的限制，从而提高效率更高和成本较低的操作。例如，更准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轨道，从而导致具有相同存储容量的较小尺寸磁盘。测试开发的控制技术的主要应用程序是对磁盘驱动器中数据轨道的准确跟踪，但该技术将适用于涉及高精度跟踪和性能的广泛应用。机器人技术，制造，航空航天，化学和机械系统等领域，涉及过程，尽管制造业和环境缺陷，但在拟议的研究中非常重要的是，精确的跟踪和精确度非常重要。