Artificial Bee Colony-based Adaptive Position Control of Electrohydraulic Servo Systems with Parameter Uncertainty

Abstract

In this paper, a robust adaptive backstepping-based controller is developed for positioning the spool valve of Electro-Hydraulic Servo System (EHSS) with parameter fluctuations. Artificial Bee Colony (ABC) algorithm is utilized to drive the parameters of the proposed controller to a good neighbourhood of the solution space. The optimization problem is formulated such that both the tracking error and control signal are minimized concurrently. The results show that the proposed controller guarantees the uniform ultimate boundedness of the tracking error and control signal. Moreover, illustrative simulations validate the potentials and robustness of the proposed schemes in the presence of uncertainties. The proposed controller is also compared with sliding mode control.