Development of Mathematical Model and Subordinate Control for Nonlinear Electric Drivers of Exoskeleton

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.