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

摘要

This paper introduces an application of an Ant Colony Optimizationalgorithm to optimize the parameters in the design of a type of nonlinear robustcontrol algorithm based on coefficient diagram method and backstepping strategywith nonlinear observer for the electrohydraulic servo system with supply pressureunder the conditions of uncertainty and the action of external disturbance. Based onthis model, a systematic analysis and design algorithm is developed to deal withstabilization and angular displacement tracking, one feature of this work isemploying the nonlinear observer to achieve the asymptotic stability with stateestimations. Finally, numerical simulations are given to demonstrate the usefulnessand advantages of the proposed optimization method.