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Featured researches published by Guoyang Cheng.


IEEE Transactions on Industrial Electronics | 2007

Robust Composite Nonlinear Feedback Control With Application to a Servo Positioning System

Guoyang Cheng; Kemao Peng

A new robust composite nonlinear feedback (CNF) control method is proposed to achieve fast and accurate set-point tracking for linear systems subject to input saturation and disturbances. The basic idea is to incorporate disturbance estimation and compensation into the framework of the original CNF control so as to eliminate the steady-state bias due to disturbances and retain the fast transient performance of the original CNF control. There is no additional integration action introduced in the new method, which is in contrast with the previous work, i.e., the enhanced CNF control. The new method is applied to design a control law for a dc servomotor positioning system. Simulation and experimental results show that the new method can achieve better transient performance and steady-state accuracy in set-point tracking and is more robust to amplitude variations of disturbance/set point compared to integration-based control


IEEE Transactions on Control Systems and Technology | 2005

Modeling and compensation of nonlinearities and friction in a micro hard disk drive servo system with nonlinear feedback control

Kemao Peng; Ben M. Chen; Guoyang Cheng; Tong Heng Lee

Friction and nonlinearities result in large residual errors and deteriorate the performance of head positioning of hard disk drive (HDD) servo systems and other mechanical servo systems. Thus, it is highly desirable to characterize the behaviors of nonlinearities and friction in the servo systems. This paper presents a fairly comprehensive modeling and compensation of friction and nonlinearities of a typical voice-coil-motor (VCM) actuator used in commercial HDDs, and the design of an HDD servo system using an enhanced nonlinear control technique. Our contributions are two-fold: We will first obtain a complete model of the VCM actuator including friction and nonlinear characteristics through a careful examination of the configuration and structure of the actual system and through a thorough analysis of its physical effects together with its time-domain and frequency-domain responses. We will then proceed to design a servo system for the hard drive using an enhanced composite nonlinear feedback (CNF) control technique with a simple friction and nonlinearity compensation scheme. The enhanced CNF technique has a feature of removing the uncompensated portion of friction and nonlinearities without sacrificing the overall tracking performance. Simulation and experimental results for both the modeling and the servo design show that our approach is very effective and successful. In particular, our experimental results show that the enhanced CNF control has outperformed the conventional proportional-integral-derivative (PID) control in settling time by 76%. We believe that this approach can be adopted to solve other servomechanism problems.


IEEE Transactions on Industrial Electronics | 2007

Improving Transient Performance in Tracking General References Using Composite Nonlinear Feedback Control and Its Application to High-Speed

Guoyang Cheng; Kemao Peng; Ben M. Chen; Tong Heng Lee

We adopt in this paper the newly developed composite nonlinear feedback (CNF) control method to track general target references for systems with input saturation. The original formulation of the CNF control technique is only applicable to set-point tracking, in which the target reference is set to be a constant. In this paper, a reference generator, which is able to produce more general reference signals such as sinusoidal and other waves, will be proposed to supplement the CNF control technique to yield a good performance. The resulting control law comprises the reference generator and a modified CNF control law, which is proven to be capable of tracking a target reference with fast settling time and minimal overshoot. Simulation and experimental results on an XY-table show that the proposed technique gives a very satisfactory performance


international conference on control, automation, robotics and vision | 2004

XY

Guoyang Cheng; Ben M. Chen; Kemao Peng; Tong Heng Lee

We present in this article a MATLAB toolkit with a user-friendly graphical interface for composite nonlinear feedback control system design. The toolkit can be utilized to design a fast and smooth tracking controller for a class of linear systems with actuator and other nonlinearities as well as with external disturbances. The toolkit is capable of displaying both time-domain and frequency-domain responses on its main panel, and generating three different types of control laws, namely, the state feedback, the full order measurement feedback and the reduced order measurement feedback controllers. The usage and design procedure of the toolkit are illustrated by a practical example on the design of a hard disk drive servo system. The toolkit can be utilized to design servo systems that deal with point-and-shoot fast targeting.


american control conference | 2003

-Table Positioning Mechanism

Kemao Peng; Guoyang Cheng; Ben M. Chen; Tong Heng Lee

This paper deals with the modeling of the voice coil motor (VCM) with nonlinearities from friction in the actuator rotary pivot bearing and data flex cable in a hard disk drive (HDD). They are two of major nonlinearities in the VCM motor, which result in large residual errors and deteriorate the performance of head positioning servo systems. The basic idea to build the model of the VCM motor with the nonlinearities is to identify the configuration of the VCM motor through analysis of physical effects and to determine the parameters with the Monte Carlo method to match the measured frequency response. The verification of the identified model shows that the established model is sufficient to characterize the VCM motor with the nonlinearities.


world congress on intelligent control and automation | 2006

A MATLAB toolkit for composite nonlinear feedback control

Guoyang Cheng; Kemao Peng; Ben M. Chen; Tong Heng Lee

A generalized composite nonlinear feedback (CNF) control technique was presented to track non-step references. A reference generator was adopted to supplement the CNF control technique so as to track the non-step references. The reference generator can be designed to produce a desired reference. The generalized CNF control law comprises the reference generator and a modified enhanced CNF control law. The proposed method was applied to design control laws for an XY-table. Simulation and implementation results verify that the generalized CNF control law is indeed capable of tracking the non-step references


international conference on control and automation | 2005

Comprehensive modeling of friction in a hard disk drive actuator

Kemao Peng; Guoyang Cheng; Ben M. Chen; T.H. Lee

In this paper, we present an enhanced composite nonlinear feedback (CNF) control technique for discrete-time systems with input saturation and with external disturbances. The conventional CNF control is proved to be capable of yielding better transient performance in tracking control for systems with input saturation. However, when the given system has external disturbances as in most of practical situations, the conventional CNF control would yield some steady state errors in the resulting output response. The enhanced CNF technique presented is an extension of the conventional one. It retains good transient properties as those of the conventional CNF control and at the same time has an additional capacity of eliminating steady state bias due to unknown constant disturbances.


international conference on advanced intelligent mechatronics | 2003

Generalized Composite Nonlinear Feedback Control Technique to Track Non-step References

Kemao Peng; Guoyang Cheng; Ben M. Chen; Tong Heng Lee

This paper deals with compensation of torque disturbances in a hard disk drive (HDD) to improve its head positioning performance. The torque disturbances from the data flex cable and friction in the actuator rotary pivot bearing yield a significant bias and large residual error, which deteriorate performance of the overall system. Reducing effect of these torque disturbances has been one of challenges in designing head positioning servo systems. In this paper, a comprehension physical model of the voice coil motor (VCM) will be derived through analysis of physical effects and the parameters will be determined with the Monte Carlo method to match those responses measured in the perturbation method. A modified integral is added into a linear control law to reduce the disturbances and improve performance of head positioning servo systems. The simulation and experimental results show significant improvement on performance of the head positioning servo systems.


international conference on control and automation | 2003

On the improvement of transient performance in tracking control for discrete-time systems with input saturation and disturbances

Kemao Peng; Guoyang Cheng; Ben M. Chen; Tong Heng Lee

This paper is to analyze effect of the data flex cable and friction in the actuator rotary pivot bearing on performance of head positioning servo systems in micro hard disk drives (HDD). The micro HDD is one of trends in the disk drive industry, which can be used by portable devices such as digital cameras. A nonlinear model of the micro HDD will be established, where its configuration of nonlinearities will be identified with analysis of physical effects and its parameters will be determined with the Monte Carlo method. A control law will be designed to analyze effect of these torque disturbances on performance of head positioning servo systems through simulations and experiments.


international conference on control, automation, robotics and vision | 2006

Improvement on a hard disk drive servo system using friction and disturbance compensation

Guoyang Cheng; Kemao Peng; Ben M. Chen; Tong Heng Lee

This paper presents a discrete-time robust nonlinear control method to achieve fast and accurate set-point tracking for servo systems subject to actuator saturation and disturbances. The idea here is to use a combination of composite nonlinear feedback (CNF) control and disturbance estimation cum compensation. The CNF control is responsible for superior transient performance, i.e., to guarantee a fast response with low overshoot, while the disturbance estimator/compensator is used to remove the steady state bias that would otherwise be existent due to disturbances. Practical application in a micro hard disk drive servo system will be given to demonstrate the effectiveness of this control method

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Ben M. Chen

National University of Singapore

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Kemao Peng

National University of Singapore

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Tong Heng Lee

National University of Singapore

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T.H. Lee

National University of Singapore

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