Next Article in Journal
Polygonal Wear Mechanism of High-Speed Train Wheels Based on Lateral Friction Self-Excited Vibration
Previous Article in Journal
Design and Hydrodynamic Experiment Research on Novel Biomimetic Pectoral Fins of a Ray-Inspired Robotic Fish
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
Machines
Volume 10
Issue 8
10.3390/machines10080607
machines-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite question_answer Discuss in SciProfiles
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
Article

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

by
Qiying Su
,
Zhongcai Pei
and
Zhiyong Tang
*
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
*
Author to whom correspondence should be addressed.
Machines 2022, 10(8), 607; https://doi.org/10.3390/machines10080607
Submission received: 16 June 2022 / Revised: 16 July 2022 / Accepted: 20 July 2022 / Published: 25 July 2022
(This article belongs to the Section Machine Design and Theory)
Browse Figures
Review Reports Versions Notes

Abstract

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 establishes the dynamic model of the 1-DOF joint system of the hydraulic driven exoskeleton, constructs the HIL simulation test platform based on the Linux real-time kernel patch, and studies the nonlinear control strategy of the 1-DOF joint system on this platform system. The control effects of the PID control algorithm and the backstepping method on nonlinear control are compared, and the controller parameters are tested on the HIL simulation platform. From the experimental results of the HIL simulation, the research method has the advantages of low cost, high efficiency of system development, safety, and reliability. It has important reference value for the development and debugging of a hydraulic exoskeleton control system.
Keywords: hydraulic exoskeleton; hydraulic servo control; Lyapunov function hydraulic exoskeleton; hydraulic servo control; Lyapunov function

Share and Cite

MDPI and ACS Style

Su, Q.; Pei, Z.; Tang, Z. Nonlinear Control of a Hydraulic Exoskeleton 1-DOF Joint Based on a Hardware-In-The-Loop Simulation. Machines 2022, 10, 607. https://doi.org/10.3390/machines10080607

AMA Style

Su Q, Pei Z, Tang Z. Nonlinear Control of a Hydraulic Exoskeleton 1-DOF Joint Based on a Hardware-In-The-Loop Simulation. Machines. 2022; 10(8):607. https://doi.org/10.3390/machines10080607

Chicago/Turabian Style

Su, Qiying, Zhongcai Pei, and Zhiyong Tang. 2022. "Nonlinear Control of a Hydraulic Exoskeleton 1-DOF Joint Based on a Hardware-In-The-Loop Simulation" Machines 10, no. 8: 607. https://doi.org/10.3390/machines10080607

APA Style

Su, Q., Pei, Z., & Tang, Z. (2022). Nonlinear Control of a Hydraulic Exoskeleton 1-DOF Joint Based on a Hardware-In-The-Loop Simulation. Machines, 10(8), 607. https://doi.org/10.3390/machines10080607

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop