Adaptive Position Control of Electrohydraulic Servo Systems with Parameter Uncertainty using Artificial Bee Colony Optimization Algorithm
Henry A. Akinrinde
LNG, Canada.
Babajide O. Ayinde *
EchoNous Inc. Redmond Washington, U.S.A.
Sami El-Ferik
Department of Systems Engineering King Fahd University of Petroleum and Minerals Dhahran, 31261, Saudi Arabia.
*Author to whom correspondence should be addressed.
Abstract
In this paper, we present a robust adaptive backstepping-based controller for precise positioning of the spool valve in an Electro-Hydraulic Servo System (EHSS) under conditions of parameter fluctuations. Classical control strategies, such as PID and linear controllers, often struggle with the nonlinearities and parameter uncertainties inherent in EHSS, leading to poor tracking performance and instability. To overcome these limitations, we employ the Artificial Bee Colony (ABC) algorithm to optimize the controller parameters, minimizing both the tracking error and control signal. The proposed controller ensures uniform ultimate boundedness of the error and control signal by utilizing a Lyapunov-based stability criterion, which guarantees that errors do not exceed a predefined bound despite uncertainties and disturbances. Simulation results validate the robustness and effectiveness of the control scheme, even in the presence of parameter variations. Additionally, a comparative analysis with sliding mode control highlights the superior performance of the proposed method, particularly in providing smoother control signals and reducing chattering while ensuring stability.
Keywords: Electro-hydraulic systems, backstepping control, nonlinear systems, adaptive control, artificial bee colony