ABSTRACT
In this chapter, an output feedback controller with a full-state observer is presented for a single-rod hydraulic actuator [19]. The system states are not measured except the cylinder displacement. Although this system is not a strict feedback system, the proposed controller theoretically guarantees the stability and convergence of EHS. In addition, the stable full-state observer is designed to estimate some unknown hydraulic states, which can be used in the backstepping controller. To verify this proposed backstepping control based on the full-state observer, an experiment is carried out. Experiment results are obtained from the hydraulic position control of the two-DOF robotic arm motion. Experiment results highlight the better dynamic performance of the proposed method in comparison to the conventional PI control method in some specific critical condition with high response frequency and large unknown external load.
