Position control of electro-hydraulic actuator system using fuzzy logic controller optimized by particle swarm optimization

Authors:
Daniel M. Wonohadidjojo;Ganesh Kothapalli;Mohammed Y. Hassan
Affiliations:
School of Engineering, Edith Cowan University, Western Australia, Australia 6027;School of Engineering, Edith Cowan University, Western Australia, Australia 6027;University of Technology, Baghdad, Iraq and Adjunct Academic, Edith Cowan University, Western Australia, Australia 6027
Venue:
International Journal of Automation and Computing
Year:
2013

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Abstract

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.