Position Control of Electro-hydraulic Actuator System Using Fuzzy Logic Controller Optimized by Particle Swarm Optimization

• Published in: International journal of automation and computing 2013-06, Vol.10 (3), p.181-193
• Main Authors: Wonohadidjojo, Daniel M., Kothapalli, Ganesh, Hassan, Mohammed Y.
• Format: Article
• Language: English
• Subjects: CAE) and Design; Computer Applications; Computer-Aided Engineering (CAD; Control; Engineering; FLC; Mechatronics; Robotics; 位置控制系统; 内部泄漏; 模糊推理系统; 模糊逻辑控制器; 电动液压; 电液执行器; 粒子群优化
• ISSN: 1476-8186; 1751-8520
• DOI: 10.1007/s11633-013-0711-3

The position control system of an electro-hydraulic actuator system （EHAS） is investigated in this paper. The EHAS is developed by taking into consideration the nonlinearities of the system： the friction and the internal leakage. A variable load that simulates a realistic load in robotic excavator is taken as the trajectory reference. A method of control strategy that is implemented by employing a fuzzy logic controller （FLC） whose parameters are optimized using particle swarm optimization （PSO） is proposed. The scaling factors of the fuzzy inference system are tuned to obtain the optimal values which yield the best system performance. The simulation results show that the FLC is able to track the trajectory reference accurately for a range of values of orifice opening. Beyond that range, the orifice opening may introduce chattering, which the FLC alone is not sufficient to overcome. The PSO optimized FLC can reduce the chattering significantly. This result justifies the implementation of the proposed method in position control of EHAS.