Optimization of EHA sliding mode controller based on spider wasp algorithm

Objectives This paper proposes using a spider wasp optimization (SWO) algorithm to realize the precise position control of an electro-hydrostatic actuator (EHA) while reducing the parameter tuning difficulty of the EHA sliding mode controller and improving its comprehensive performance.

Methods A simplified model of an EHA is established and its sliding mode controller is designed. The sliding mode surface and reaching rate parameters of the controller are then adjusted by the SWO algorithm, and Matlab/Simulink and AMEsim simulation software is used to build a co-simulation model for verification.

Results The parameters of the sliding mode controller are adjusted manually and by the SWO algorithm respectively. The comparative simulation results show that the sliding mode controller optimized by the SWO algorithm avoids overshoot and has enhanced anti-interference properties, and its convergence speed is improved by 33.6%, proving the feasibility of optimizing the sliding surface and reaching rate parameters of an EHA sliding mode controller using the SWO algorithm.

Conclusions The results of this study can provide theoretical references for the design of EHA sliding mode controllers.