Sliding mode based learning control for track-following in hard disk drives

Abstract

This study aims to develop a sliding mode based learning controller for track-following in hard disk drives. The proposed controller incorporates characteristics of sliding mode control into learning control. The reason for using sliding mode control is attributed to its robust properties dealing with model uncertainty and disturbances. The learning algorithm utilizes shape functions to approximate influence functions in integral transforms and estimate the control input to reduce repetitive error. Mathematical derivation of the control law and stability analysis are presented. To validate the proposed method, this work conducts track-following experiments. (C) 2004 Elsevier Ltd. All rights reserved.