Optimal Sliding Mode Dual-Stage Actuator Control in Computer Disk Drives

This paper presents a discrete-time design of a dual-stage actuator control system with sliding mode for computer disk drives. A state estimator based discrete-time boundary layer sliding mode control scheme is developed for a dual-stage actuator, which consists of a voice coil motor and a microactuator. Considering dominant microactuator flexible mode dynamics and the interaction between the two actuators, an optimal sliding hyper-plane is designed to maximize their cooperation so as to attain desired responses. An application example demonstrates the utility of the proposed sliding mode dual-stage actuator control scheme for track-seek in the microactuator range, settle, and track-follow.

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