Truong, Dinh Dang and Belov, Mikhail P. and Phuong, Tran Huu (2021) Development of Mathematical Model and Subordinate Control for Nonlinear Electric Drivers of Exoskeleton. In: 4th International Conference on Control in Technical Systems, CTS 2021, 21 September 2021 through 23 September 2021, St. Petersburg.
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The article discusses a mathematical model of a control system for exoskeleton electric drives with nonlinear elements. The development of a exoskeleton dynamic model includes five links with two legs and a body, taking into account non-linear electric drives as a control object. Modeling mechanical systems is an important step in the practical design and application of control systems. The nonlinear approach to modeling is due to the use of a control system for the exoskeleton electric drives in various conditions, which is a multi-mass rotating in two directions with nonlinearities of the viscous and Coulomb friction, elasticity. A method of subordinate control (SC) of exoskeleton nonlinear electric drives for tracking control of the exoskeleton joints trajectory is presented. Also, the results of the experiment on the Matlab / Simulink program were obtained to illustrate the effectiveness of the proposed control strategy. © 2021 IEEE.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Divisions: | Offices > Office of International Cooperation |
| Identification Number: | 10.1109/CTS53513.2021.9562831 |
| Uncontrolled Keywords: | Electric drive; Exoskeleton; Exoskeleton electric drive; Nonlinear electric drive; Subordinate control |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/10360 |
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