A specific class of track seeking problem has been considered in this paper, where the HDD head should follow a simple predetermined trajectory. This process is considered to be relatively slow, therefore, only VCM is used as an actuator. The accuracy of this trajectory following problem can be improved using iterative learning control, ILC. Two different ILC algorithms have been simulated and compared under existence of repeatable and non-repeatable disturbances.

Volume Subject Area:
Servo Control Technology
Topics:
Feedforward control, Iterative learning control, Trajectories (Physics), Actuators, Algorithms, Horizontal directional drilling
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