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

Aiming at the difficulty of debugging exoskeleton control system driven by a hydraulic cylinder, research method nonlinear strategy for with 1 degree freedom (DOF) joint is proposed. Based on hardware-in-the-loop (HIL) simulation, this establishes dynamic model 1-DOF exoskeleton, constructs HIL simulation test platform based Linux real-time kernel patch, and studies system. The effects PID algorithm backstepping are compared, controller parameters tested platform. From experimental results has advantages low cost, high efficiency development, safety, reliability. It important reference value development