Energy-efficient algorithm of control of exoskeleton verticalization

Abstract

The exoskeleton of the lower limbs is considered and the problem of increasing its energy efficiency is solved. The problem of nonlinear optimization is stated. The coefficients of the exoskeleton control system regulator act as optimized parameters. The target function is selected so that the optimal set of coefficients provides high accuracy of operation of the control system and its energy efficiency. A numerical method of solving the optimization problem is described and the simulation results are presented.