State/parameter Observer Design for a Single-rod Electrohydraulic Manipulator

This paper considers a nonlinear state and parameter estimation problem of single-rod electrohydraulic manipulator with unknown parameter. Compared to the translational mass with single-rod hydraulic actuator or manipulators driven by electrical motors, electrohydraulic manipulator possesses a richer nonlinear dynamics. An observer design approach is applied to the state and parameter estimation problem of the single-rod electrohydraulic manipulator system. The proposed results are also illustrated by numerical simulation experiment.