{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T02:10:52Z","timestamp":1772071852671,"version":"3.50.1"},"reference-count":51,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2019,6,18]],"date-time":"2019-06-18T00:00:00Z","timestamp":1560816000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>To improve the controllability of an electro-hydraulic position servo control system while simultaneously enhancing the anti-jamming ability of a PID controller, a compound PID controller that combines the beetle antennae search algorithm with PID strategy was proposed, and used to drive the position servo control system of the electro-hydraulic servo system. A BAS-PID controller was designed, and the beetle antennae search algorithm was used to tune PID parameters so that the disturbance signal of the system was effectively restrained. Initially, the basic mathematical model of the electro-hydraulic position servo control system was established through theoretical analysis. The transfer function model was obtained by identifying system parameters. Then, the PID parameter-tuning problem was converted into a class of three-dimensional parameter optimization problem, and gains of PID controllers were adjusted using the beetle antennae search algorithm. Finally, by comparing the effectiveness of different algorithms, simulation and experimental results revealed that the BAS-PID controller can greatly enhance the performance of the electro-hydraulic position servo control system and inhibit external disturbances when different interference signals are used to test the system\u2019s robustness.<\/jats:p>","DOI":"10.3390\/s19122727","type":"journal-article","created":{"date-parts":[[2019,6,19]],"date-time":"2019-06-19T02:42:46Z","timestamp":1560912166000},"page":"2727","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":73,"title":["Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System"],"prefix":"10.3390","volume":"19","author":[{"given":"Yuqi","family":"Fan","sequence":"first","affiliation":[{"name":"School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junpeng","family":"Shao","sequence":"additional","affiliation":[{"name":"School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guitao","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,6,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"633","DOI":"10.1109\/TMECH.2013.2252360","article-title":"High-Accuracy Tracking Control of Hydraulic Rotary Actuators with Modeling Uncertainties","volume":"19","author":"Yao","year":"2014","journal-title":"IEEE ASME Trans. Mechatron."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"2965","DOI":"10.1007\/s13369-013-0888-3","article-title":"Robust Position Tracking Control of an Electro-Hydraulic Actuator in the Presence of Friction and Internal Leakage","volume":"39","author":"Has","year":"2013","journal-title":"Arab. J. Sci. Eng."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1016\/j.mechatronics.2016.10.007","article-title":"Adaptive integral robust control of hydraulic systems with asymptotic tracking","volume":"40","author":"Yang","year":"2016","journal-title":"Mechatronics"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"170","DOI":"10.1016\/j.conengprac.2018.07.009","article-title":"Robust MPC\u2013PIC force control for an electro-hydraulic servo system with pure compressive elastic load","volume":"79","author":"Yuan","year":"2018","journal-title":"Control Eng. Pract."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"3231","DOI":"10.1109\/ACCESS.2017.2787663","article-title":"Research on Robust Model Predictive Control for Electro-Hydraulic Servo Active Suspension Systems","volume":"6","author":"Wang","year":"2018","journal-title":"IEEE Access"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1910","DOI":"10.1016\/j.isatra.2014.06.011","article-title":"A compound control strategy combining velocity compensation with ADRC of electro-hydraulic position servo control system","volume":"53","author":"Gao","year":"2014","journal-title":"ISA Trans."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1016\/j.isatra.2018.04.002","article-title":"Modal space three-state feedback control for electro-hydraulic servo plane redundant driving mechanism with eccentric load decoupling","volume":"77","author":"Zhao","year":"2018","journal-title":"ISA Trans."},{"key":"ref_8","first-page":"1230","article-title":"Composite adaptive force tracking control for electro-hydraulic system without persistent excitation condition","volume":"232","author":"Guo","year":"2018","journal-title":"Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Gong, L., Xiao, C., Cao, B., and Zhou, Y. (2018). Adaptive Smart Control Method for Electric Vehicle Wireless Charging System. Energies, 11.","DOI":"10.3390\/en11102685"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"3059","DOI":"10.1109\/ACCESS.2017.2787052","article-title":"Decentralized PID Control Design for Magnetic Levitation Systems Using Extremum Seeking","volume":"6","author":"Chen","year":"2018","journal-title":"IEEE Access"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1177","DOI":"10.1007\/s40430-016-0634-3","article-title":"Nonlinear modeling and PID control through experimental characterization for an electrohydraulic actuation system: System characterization with validation","volume":"39","author":"Das","year":"2016","journal-title":"J. Braz. Soc. Mech. Sci. Eng."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"62","DOI":"10.1016\/j.rcim.2014.11.001","article-title":"Realtime performance analysis of different combinations of fuzzy\u2013PID and bias controllers for a two degree of freedom electrohydraulic parallel manipulator","volume":"34","author":"Ghosh","year":"2015","journal-title":"Robot. Comput.-Integr. Manuf."},{"key":"ref_13","first-page":"1378783","article-title":"An MEA-Tuning Method for Design of the PID Controller","volume":"2019","author":"Zhang","year":"2019","journal-title":"Math. Probl. Eng."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Yang, X., Chen, X., Xia, R., and Qian, Z. (2018). Wireless Sensor Network Congestion Control Based on Standard Particle Swarm Optimization and Single Neuron PID. Sensors, 18.","DOI":"10.3390\/s18041265"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1016\/j.robot.2016.07.005","article-title":"Parameter tuning of PID controller with reactive nature-inspired algorithms","volume":"84","author":"Fister","year":"2016","journal-title":"Robot. Auton. Syst."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Wang, X., Yan, X., Li, D., and Sun, L. (2018). An Approach for Setting Parameters for Two-Degree-of-Freedom PID Controllers. Algorithms, 11.","DOI":"10.3390\/a11040048"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"220","DOI":"10.1115\/1.2899060","article-title":"Optimum settings for automatic controllers","volume":"115","author":"Ziegler","year":"1993","journal-title":"J. Dyn. Syst. Meas. Control"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"583","DOI":"10.1007\/s40435-016-0252-z","article-title":"Decentralized PID controller design for TITO processes with experimental validation","volume":"5","author":"Hajare","year":"2016","journal-title":"Int. J. Dyn. Control"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"378","DOI":"10.1016\/S1000-9361(08)60049-7","article-title":"PID Controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System","volume":"21","author":"Elbayomy","year":"2008","journal-title":"Chin. J. Aeronaut."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"733","DOI":"10.1016\/j.eswa.2009.05.083","article-title":"Current sharing of paralleled DC\u2013DC converters using GA-based PID controllers","volume":"37","author":"Cheng","year":"2010","journal-title":"Expert Syst. Appl."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1016\/j.ymssp.2016.06.010","article-title":"Position control of nonlinear hydraulic system using an improved PSO based PID controller","volume":"83","author":"Ye","year":"2017","journal-title":"Mech. Syst. Signal Proc."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Wang, R., Tan, C., Xu, J., Wang, Z., Jin, J., and Man, Y. (2017). Pressure Control for a Hydraulic Cylinder Based on a Self-Tuning PID Controller Optimized by a Hybrid Optimization Algorithm. Algorithms, 10.","DOI":"10.3390\/a10010019"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"200","DOI":"10.1016\/j.swevo.2018.03.005","article-title":"Hybrid improved firefly-pattern search optimized fuzzy aided PID controller for automatic generation control of power systems with multi-type generations","volume":"44","author":"Rajesh","year":"2019","journal-title":"Swarm Evol. Comput."},{"key":"ref_24","first-page":"338","article-title":"Firefly algorithm optimized fuzzy PID controller for AGC of multi-area multi-source power systems with UPFC and SMES","volume":"19","author":"Pradhan","year":"2016","journal-title":"Int. J. Eng. Sci. Technol."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"121","DOI":"10.1016\/j.asoc.2018.01.007","article-title":"An effective hybrid harmony search and cuckoo optimization algorithm based fuzzy PID controller for load frequency control","volume":"65","author":"Gheisarnejad","year":"2018","journal-title":"Appl. Soft Comput."},{"key":"ref_26","first-page":"278","article-title":"Improved grey wolf optimization technique for fuzzy aided PID controller design for power system frequency control","volume":"16","author":"Sahoo","year":"2018","journal-title":"Energy Grids Netw."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"518","DOI":"10.1002\/cae.20420","article-title":"Trajectory tracking performance comparison between genetic algorithm and ant colony optimization for PID controller tuning on pressure process","volume":"20","author":"Erdal","year":"2012","journal-title":"Comput. Appl. Eng. Educ."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s40638-017-0057-3","article-title":"Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism","volume":"4","author":"Goher","year":"2017","journal-title":"Robot. Biomim."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1","DOI":"10.5430\/ijrc.v1n1p1","article-title":"BAS: Beetle Antennae Search Algorithm for Optimization Problems","volume":"1","author":"Jiang","year":"2018","journal-title":"Int. J. Robot. Control"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"801","DOI":"10.1002\/nag.2891","article-title":"Optimized neural network using beetle antennae search for predicting the unconfined compressive strength of jet grouting coalcretes","volume":"43","author":"Sun","year":"2019","journal-title":"Int. J. Numer. Anal. Methods Geomech."},{"key":"ref_31","unstructured":"Zhu, Z., Zhang, Z., Man, W., Tong, X., Qiu, J., and Li, F. (June, January 31). A new beetle antennae search algorithm for multi-objective energy management in microgrid. Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, Wuhan, China."},{"key":"ref_32","first-page":"1600","article-title":"Beetle swarm optimisation for solving investment portfolio problems","volume":"16","author":"Chen","year":"2018","journal-title":"J. Eng."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"652","DOI":"10.1080\/15435075.2019.1602534","article-title":"Prediction of dissolved gases content in power transformer oil using BASA-based mixed kernel RVR model","volume":"16","author":"Fei","year":"2019","journal-title":"Int. J. Green Energy"},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1016\/j.enggeo.2019.02.021","article-title":"Determination of Young\u2019s modulus of jet grouted coalcretes using an intelligent model","volume":"252","author":"Sun","year":"2019","journal-title":"Eng. Geol."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"440","DOI":"10.1016\/j.conbuildmat.2019.02.117","article-title":"Prediction of permeability and unconfined compressive strength of pervious concrete using evolved support vector regression","volume":"207","author":"Sun","year":"2019","journal-title":"Constr. Build. Mater."},{"key":"ref_36","unstructured":"Jiang, X., and Li, S. (2017). Beetle Antennae Search without Parameter Tuning (BAS-WPT) for Multi-objective Optimization. arXiv."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Wu, Q., Shen, X., Jin, Y., Chen, Z., Li, S., Khan, A.H., and Chen, D. (2019). Intelligent Beetle Antennae Search for UAV Sensing and Avoidance of Obstacles. Sensors, 19.","DOI":"10.3390\/s19081758"},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Lin, M., and Li, Q. (2018, January 16\u201317). A Hybrid Optimization Method of Beetle Antennae Search Algorithm and Particle Swarm Optimization. Proceedings of the 2018 International Conference on Electrical, Control, Automation and Robotics, Xiamen, China.","DOI":"10.12783\/dtetr\/ecar2018\/26379"},{"key":"ref_39","unstructured":"Li, Q., Wei, A., and Zhang, Z. (2018, January 17\u201318). Application of Economic Load Distribution of Power System Based on BAS-PSO. Proceedings of the 2nd International Symposium on Application of Materials Science and Energy Materials, Shanghai, China."},{"key":"ref_40","unstructured":"Liu, Q., Wang, Z., and Wei, A. (2018, January 17\u201318). Research on Optimal Scheduling of Wind-PV-Hydro-Storage Power Complementary System Based on BAS Algorithm. Proceedings of the 2nd International Symposium on Application of Materials Science and Energy Materials, Shanghai, China."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Wang, C., Ren, C., Li, B., Wang, Y., and Wang, K. (2018, January 25\u201326). Research on Straightness Error Evaluation Method Based on Search Algorithm of Beetle. Proceedings of the 8th International Workshop of Advanced Manufacturing and Automation, Changzhou, China.","DOI":"10.1007\/978-981-13-2375-1_45"},{"key":"ref_42","unstructured":"Zhang, Y., Li, S., and Xu, B. (2019). Convergence analysis of beetle antennae search algorithm and its applications. arXiv."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"1928","DOI":"10.1109\/TAC.2010.2049688","article-title":"ITAE Optimal Sliding Modes for Third-Order Systems with Input Signal and State Constraints","volume":"55","author":"Bartoszewicz","year":"2010","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1016\/0019-0578(96)00010-9","article-title":"Tuning of fuzzy PI controllers based on gain\/phase margin specifications and ITAE index","volume":"35","author":"Xu","year":"1996","journal-title":"ISA Trans."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"1093","DOI":"10.1108\/03684920910976844","article-title":"ITAE optimal variable structure control of second order systems with input signal and velocity constraints","volume":"38","author":"Nowackaleverton","year":"2009","journal-title":"Kybernetes"},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"97","DOI":"10.1016\/j.swevo.2015.10.004","article-title":"Load frequency control of interconnected power system using grey wolf optimization","volume":"27","author":"Guha","year":"2016","journal-title":"Swarm Evol. Comput."},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1016\/j.engappai.2013.12.009","article-title":"Design of intelligent PID\/PI\u03bbD\u03bc speed controller for chopper fed DC motor drive using opposition based artificial bee colony algorithm","volume":"29","author":"Rajasekhar","year":"2014","journal-title":"Eng. Appl. Artif. Intell."},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"513","DOI":"10.1016\/j.mechatronics.2008.03.005","article-title":"Application of Differential Evolution in system identification of a servo-hydraulic system with a flexible load","volume":"18","author":"Yousefi","year":"2008","journal-title":"Mechatronics"},{"key":"ref_49","doi-asserted-by":"crossref","unstructured":"Ba, K., Yu, B., Gao, Z., Li, W., Ma, G., and Kong, X. (2017). Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots\u2019 HDU. Appl. Sci., 7.","DOI":"10.3390\/app7101035"},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"999","DOI":"10.3901\/CJME.2015.0626.083","article-title":"Nonlinear mathematical modeling and sensitivity analysis of hydraulic drive unit","volume":"28","author":"Kong","year":"2015","journal-title":"Chin. J. Mech. Eng."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"2557","DOI":"10.1177\/0954406213519613","article-title":"The modeling and controlling of electrohydraulic actuator for quadruped robot based on fuzzy Proportion Integration Differentiation controller","volume":"228","author":"Xu","year":"2014","journal-title":"Proc. Inst. Mech. Eng. Part C J. Eng. Mech. Eng. Sci."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/12\/2727\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:59:12Z","timestamp":1760187552000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/12\/2727"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,6,18]]},"references-count":51,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2019,6]]}},"alternative-id":["s19122727"],"URL":"https:\/\/doi.org\/10.3390\/s19122727","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,6,18]]}}}