Abstract
Abstract A non-linear model-based control system for the Human inspired Robotic Exoskeleton (HuREx) gait trainer was developed. The model used for the controller was derived using a hybrid PMA model and dynamic model of the device. The performance of the control system was compared against a closed-loop PID control system in simulation. The trajectory tracking results show that the model-based control system improved the speed and accuracy of the system as well as being robust against modeling errors and disturbances.
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