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This paper studies on improving the bandwidth of electro-hydraulic rotary actuator. Electro-hydraulic servo system is a typical nonlinear system, and also usually disturbed by internal and external uncertain factors. The nonlinear and uncertainty characteristics make the conventional controller not yield to the system high bandwidth requirement. In this paper, an adaptive robust controller based on...
As we know that the recording density is increasing at an impressive annual rate of 100%, and the access time is decreasing; very soon, the storage density of Harddisk drive will cross 1 Terra bit per square inch. The VCM actuator used in the conventional disk drives has hundreds of flexible resonances at high frequencies, which limit the increase of bandwidth and hence the positioning accuracy. In...
This paper proposes a new robust load position servo system for industrial robots based on estimated load information. The compact high-gear reduction without backlash, such as the harmonic gear is frequently used in the driving system for the sake of high load-to-weight performance. Generally, the industrial robots have used the sensors mounted to actuator-side because hardware setting using load-side...
High aerial density is needed for improving the capacity in Hard Disk Drive (HDD). In order to achieve this task, tracking performance and robustness of HDD servo system need to be improved. H?? robust controller is one of the most popular techniques for the mentioned problem; however, order of this controller is usually higher than that of the plant, making it difficult to implement practically....
The dynamic behavior of electro-hydraulic driven parallel manipulators is highly nonlinear system, the nonlinear behavior arising from load friction as well as the valve flow-pressure drop relationship. This paper is concerned with the robust tracking control of electro-hydraulic driven parallel manipulators with the model uncertainties. An adaptive fuzzy controller is used to estimate the uncertainties...
In this paper, Hinfin and mixed H2/Hinfin controllers are designed for a hard disk drive (HDD) using linear matrix inequalities (LMIs). In the proposed algorithm, the problem of minimizing track misregistration (TMR) in the presence of unmodeled dynamics of voice-coil motor (VCM) is formulated as robust Hinfin and mixed H2/Hinfin problems. Additional stack variables are introduced to characterize...
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