Optimum Design of CDM-Backstepping Control with Nonlinear Observer for Electrohydraulic Servo System Using Ant Swarm

Abstract

This paper introduces an application of an Ant Colony Optimization algorithm to optimize the parameters in the design of a type of nonlinear robust control algorithm based on coefficient diagram method and backstepping strategy with nonlinear observer for the electrohydraulic servo system with supply pressure under the conditions of uncertainty and the action of external disturbance. Based on this model, a systematic analysis and design algorithm is developed to deal with stabilization and angular displacement tracking, one feature of this work is employing the nonlinear observer to achieve the asymptotic stability with state estimations. Finally, numerical simulations are given to demonstrate the usefulness and advantages of the proposed optimization method.

Keywords

• ant colony optimization
• coefficients diagram method
• backstepping control
• electrohydraulic servo systems
• observers