DEVELOPMENT OF A MATHEMATICAL MODEL AND CONTROL BY THE METHOD OF SEPARATION OF THE CONTROL LAW FOR THE EXOSKELETON
Explores the possibility of using a nonlinear controller based on the separated control of an exoskeleton electric drive, which allows to exclude all nonlinear components and cross-connections. One of the significant difficult problems in control algorithms is the design of linear controllers for nonlinear systems. The exoskeleton is a powerful nonlinear control object with many uncertain parameters, so the application of traditional control methods is extremely difficult. To reduce these difficult problems, a nonlinear controller is built on the basis of the method of separated control. However, the application of this method requires the construction of an accurate kinematic model of the object to provide the necessary torque. The process of constructing a model of motion dynamics is considered using the example of a two-joint module of the lower extremity exoskeleton with disturbances. An exoskeleton regulator has been built with high accuracy and energy saving, in accordance with management requirements. The exoskeleton regulator was simulated in Matlab & Simulink.
Authors: M. P. Belov, D. D. Truong, N. V. Lanh
Direction: Electrical Engineering
Keywords: Exoskeleton, motion dynamics, mathematical model, electric drive, mechatronic system, structural exoskeleton, exoskeleton control, separation of the control law
View full article