Modeling and friction compensation for a dual stage positioning system Conference Paper uri icon


  • Recent increase in the storage capacity of hard disk drives demands higher accuracy in positioning the read/write head. Dual stage actuator as compared to conventional single actuator increases the accuracy of the read/write head in these systems. A scaled up version of the dual stage actuator is considered in this study. Friction is significant in the coarse stage. As a result, a significant portion of the effort in this study has been spent to model the coarse stage. Initially, static friction models were considered to model this phenomenon. Dynamic models, which describe friction better when crossing zero velocity, were considered later. By analyzing several experimental data sets it was concluded that the friction was dependent on both position and velocity. A friction compensation scheme used subsequently developed and used to control the system based on feedback linearization. The results reflect the efficacy of the modeling process.

published proceedings

  • 14th International Symposium on Measurement and Control in Robotics 2004, ISMCR 2004

author list (cited authors)

  • Thimmalapura, S., Smith, S. C., & Langari, R.

complete list of authors

  • Thimmalapura, S||Smith, SC||Langari, R

publication date

  • January 2004