Nonlinear Control of a Hydraulic Exoskeleton 1-DOF Joint Based on a Hardware-In-The-Loop Simulation

Nonlinear Control of a Hydraulic Exoskeleton 1-DOF Joint Based on a Hardware-In-The-Loop Simulation

Aiming at the difficulty of debugging the exoskeleton control system driven by a hydraulic cylinder, a research method of a nonlinear control strategy for the hydraulic exoskeleton system with 1 degree of freedom (DOF) joint is proposed. Based on a hardware-in-the-loop (HIL) simulation, this method...

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Bibliographic Details
Main Authors: Qiying Su, Zhongcai Pei, Zhiyong Tang
Format: Article
Language:English
Published: MDPI AG 2022-07-01
Series:Machines
Subjects:
hydraulic exoskeleton
hydraulic servo control
Lyapunov function
Online Access:https://www.mdpi.com/2075-1702/10/8/607

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