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In this paper, a novel work is presented, where a learning-based control approach is proposed for motion control for a two-link robotic fish. First, by virtue of the Lagrangian mechanics method, we establish a mathematical model for the two-link Carangiform robotic fish. According to the constructed dynamical model, P-type learning control laws are proposed for speed and turning control of the robotic...
This paper presents the experimental observation results of contact-induced vibration (CIV) and its compensator design in dual-stage hard disk drive servo systems, where the vibration is caused by the continuous contact of read/write head and recording media. Consistent relationships between the center frequencies and magnitudes of the vibration modes and the tested fly height, rotation speed, and...
Sensitivity loop shaping using add-on peak filters is a simple and effective method to reject narrow-band disturbances in hard disk drive (HDD) servo systems. The parallel peak filter is introduced to provide high gain magnitude in the concerned frequency range of open-loop transfer function. Different from almost all the known peak filters, which possess second-order linear system structures, in...
In this paper, a linear-quadratic-gaussian (LQG) controller is proposed in the frequency domain for active compensation of contact-induced vibration (CIV) in high density hard disk drive (HDD) servo systems. Such kind of vibration is due to continuous contact of the read/write head with the media in HDDs. Based on the modeling result of CIV dynamics, nominal LQG design is first presented with the...
In this paper, a phase lead peak filter (PLPF) design method is adopted to adaptively compensate contact-induced vibration (CIV) in high density hard disk drive (HDD) servo systems. Such kind of vibration is a new vibration source due to continuous contact of the read/write head with the media in HDDs, and its main characteristics are the time-varying phase and magnitude and the narrow-band frequency...
In this work, a novel robust observer-based frequency-shaping optimal feedback (OBFSOF) controller is designed to actively compensate low fly height vibration (LFHV) in hard disk drive (HDD) servo systems. LFHV is a new vibration source due to continuous contact of the read/write head with the media in high density HDDs. The main characteristics of LFHV are the time-varying phase and magnitude, and...
The areal density of the Hard Disk Drive (HDD) is expected to reach 10 Tb/in2 by 2014. At such high density, the fly height of the HDD heads have to be lowered, even to the point of contact with the media in order to have good signal to noise ratio. As such, contact recording, where the slider and HDD surface are in contact through lubricant surface, is the one of several possible technologies that...
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