Abstract
This paper discusses the seek control for head positioning mechanism with a contact slider in hard disk drives(HDDs). The proposed positioning control system consists of two-degrees-of-freedom controller. The optimal point-to-point(PTP) control with a frequency-shaped weighting function is employed in feedfoward input design to eliminate vibratory responses due to mechanical vibration modes. To estimate and compensate the friction force of the contact slider generated by the contact of a disk and a slider, a disturbance estimate observer is designed. The validity of the proposed approach has been verified by long span seek simulation trials in the benchmark problems for HDDs.
