DESIGN OF NONLINEAR EXOSKELETON CONTROL SYSTEM BY GAIN SCHEDULING METHOD

The interest in exoskeletons is increasing year by year. There are designed to protect the joints and spine of people, and increases mobility, reduces the load of the musculoskeletal system during long hikes to transport load (backpacks, special equipment, etc.). The technology was used to reduce muscle fatigue and increase human performance. Exoskeletons, as well as any mobile artificial limbs, have control complexities due to nonlinearity and inter-influences between channels. One of the advanced technologies in this field is an adaptive control, which is an important and interesting area of scientific and industrial researches. The need of adaptive control systems for exoskeletons used in rehabilitation medicine is because exoskeleton’s control systems always have some parametric or dynamic uncertainties. There are used to adapt information about the dynamics of the processes to the parameters of PID controllers to ensure stability at all operating points. The nonlinear control system of the exoskeleton’s leg was considered in the work. Using the gain scheduling method, a group of linear PID controllers are designed to ensure the stability of the system at various operating points.