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In this paper, a robust adaptive backstepping-based controller is developedfor positioning the spool valve of Electro-Hydraulic Servo System (EHSS) withparameter fluctuations. Artificial Bee Colony (ABC) algorithm is utilized todrive the parameters of the proposed controller to a good neighbourhood of thesolution space. The optimization problem is formulated such that both thetracking error and control signal are minimized concurrently. The results showthat the proposed controller guarantees the uniform ultimate boundedness of thetracking error and control signal. Moreover, illustrative simulations validatethe potentials and robustness of the proposed schemes in the presence ofuncertainties. The proposed controller is also compared with sliding modecontrol.

Artificial Bee Colony-based Adaptive Position Control of Electrohydraulic Servo Systems with Parameter Uncertainty