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Actuators, Volume 14, Issue 8 (August 2025) – 1 article

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20 pages, 1848 KiB  
Article
Integrated Intelligent Control for Trajectory Tracking of Nonlinear Hydraulic Servo Systems Under Model Uncertainty
by Haoren Zhou, Jinsheng Zhang and Heng Zhang
Actuators 2025, 14(8), 359; https://doi.org/10.3390/act14080359 (registering DOI) - 22 Jul 2025
Abstract
To address the challenges of model uncertainty, strong nonlinearities, and controller tuning in high-precision trajectory tracking for hydraulic servo systems, this paper proposes a hierarchical GA-PID-MPC fusion strategy. The architecture integrates three functional layers: a Genetic Algorithm (GA) for online parameter optimization, a [...] Read more.
To address the challenges of model uncertainty, strong nonlinearities, and controller tuning in high-precision trajectory tracking for hydraulic servo systems, this paper proposes a hierarchical GA-PID-MPC fusion strategy. The architecture integrates three functional layers: a Genetic Algorithm (GA) for online parameter optimization, a Model Predictive Controller (MPC) for future-oriented planning, and a Proportional–Integral–Derivative (PID) controller for fast feedback correction. These modules are dynamically coordinated through an adaptive cost-aware blending mechanism based on real-time performance evaluation. The MPC module operates on a linearized state–space model and performs receding-horizon control with weights and horizon length θ=[q,r,Tp] tuned by GA. In parallel, the PID controller is enhanced with online gain projection to mitigate nonlinear effects. The blending coefficient σ(t) is adaptively updated to balance predictive accuracy and real-time responsiveness, forming a robust single-loop controller. Rigorous theoretical analysis establishes global input-to-state stability and H performance under average dwell-time constraints. Full article
(This article belongs to the Section Control Systems)
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