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In this paper we investigate the tracking control of non-holonomic mobile robots with uncertainties. Non-holonomic kinematic systems with visual feedback are uncertain and more involved in comparison with common kinematic systems. Barbalat’s theorem and Lyapunov techniques are exploited to...
To shorten the development and production time of mechatronic systems, an integrated servo-mechanical design procedure combining mechanical structure prototyping and fast servo evaluation is essential. In this paper, a modal parametric identification procedure is developed for estimation of...
The speed-regulation problem for a permanent-magnet synchronous motor (PMSM) servo system is studied in this paper. In order to improve the disturbance rejection property of the PMSM, a novel composite controller for the speed-loop is presented. First, an extended state observer (ESO) is...
In this paper we present the idea of hybrid servo track writing and give a complete description of the developed hybrid servo track writer platform including its main functions and servo mechanism. The major disturbances and noise level in media-level servo track writing are identified based on...
In this paper the control design methods for spark ignition engine models are discussed. Both single-input single-output (SISO) and multi-input multi-output (MIMO) systems are investigated for the design of an engine control system. A comprehensive comparative study for two classes of non-linear...
An adaptive on-line scheme is designed to identify the uncertain and time-varying resonance modes in hard disk drive servo systems. Based on the identified results, the uncertain resonance mode is extracted and a peak filter is designed accordingly to provide stronger capability of disturbance...
In Hard Disk Drive (HDD) head positioning control systems, the system output can be observed only at fixed finite time intervals. Identification of the plant dynamics embedded in such an inherently sampled-data system requires special considerations to avoid the aliasing effect caused by the...
Achievable high recording track density in hard disk drives (HDDs) is often limited by the servo performance and the presence of disturbances and instability in the HDDs’ structures. For better servo performance, the position error signal (PES) sampling rate should be increased, as it is closer...
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