Multirate adaptive control of uncertain resonances beyond the Nyquist frequency in high-performance mechatronic systems
-
-
[1] National University of Singapore
National University of Singapore
Singapur
-
[2] Data Storage Institute
Data Storage Institute
Singapur
-
- Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 66, 2016, págs. 63-72
- Idioma: inglés
- Texto completo no disponible (Saber más ...)
-
Resumen
In this paper, an add-on multirate adaptive control scheme is proposed to compensate for uncertain mechanical resonant modes beyond the Nyquist frequency in mechatronic systems. The multirate adaptive controller is incorporated into the existing sampled-data control system sampled at a slow rate. To integrate well with the pre-designed feedback controller, an auxiliary error instead of the regulation error is utilized to design the multirate adaptive controller. By using a polynomial transformation technique and a recursive least-squares algorithm with a dead-zone, the proposed multirate adaptive control ensures boundedness of all the closed-loop signals and convergence of the auxiliary error. Our simulation and experimental results on the head-positioning servo control system of a hard disk drive demonstrate the effectiveness of our proposed compensation scheme in attenuating the vibration for uncertain resonances beyond the Nyquist frequency.
