Dynamic Adaptive Robust Backstepping Control Design for an Uncertain Linear System

Abstract

This paper builds on the existing adaptive robust control (ARC) synthesis method introduced by Yao et al. and presents a new method to synthesize ARCs. Based on dynamic backstepping, the approach explicitly addresses the uncertain dynamics which enters into the system via the higherorder channels of the statespace model. As such, the proposed dynamic ARC (DARC) method addresses the inherent weakness of the original approach where uncertainty in the higherorder channels is ignored. The proposed approach is illustrated in simulations for controlling a voice coil motor (VCM) actuator that serves as a read/write head for a singlestage hard disk drive (HDD). The effectiveness of the resulting DARC controller is validated by considering the transient performance, tracking errors, and disturbance rejection of the VCM operating in both the trackseeking and trackfollowing modes.