The optimization research on bimodal switching active disturbance rejection control for electro-hydraulic position servo systems

Abstract

To address the challenges of strong nonlinearity, significant parameter perturbations, and complex compound disturbances in electro-hydraulic position servo systems, this study proposes a bimodal Hybrid Tuna Swarm Optimization algorithm–switching active disturbance rejection control method (HTSO-SADRC) based on a hybrid improved Tuna Swarm Optimization algorithm. A novel bimodal error-driven switching mechanism is designed: When the system operates in a large error domain, a nonlinear feedback structure is adopted to enhance transient response performance; as the system converges to a small error domain, it adaptively switches to a linear feedback structure, effectively balancing dynamic response speed and steady-state control accuracy. By introducing chaotic map initialization and Levy flight mutation strategies, the Tuna Swarm Optimization algorithm is enhanced in multiple dimensions to construct the HTSO-based controller, which exhibits dynamic balance characteristics, thereby improving local convergence efficiency while maintaining strong global search capability. Comparative simulation experiments conducted on the MATLAB/Simulink platform demonstrate that, compared to active disturbance rejection control (ADRC) and Proportional Integral Derivative (PID) methods, the HTSO-SADRC exhibits superior dynamic performance, disturbance rejection capability, and robust stability under various reference input signals.