DESIGNING A SYSTEM OF NONLINEAR CONTROL OF THE EXOSKELETON LEG BY THE GAIN SCHEDULING METHOD

Authors

  • A.T. ULIKYAN National Polytechnic University of Armenia Author
  • A.L. MKHITARYAN National Polytechnic University of Armenia Author

Keywords:

nonlinear systems, gain scheduling, PID controller, exoskeleton, system modeling

Abstract

The nonlinear control system of the exoskeleton leg is investigated. A group of linear PID controllers is developed using the gain scheduling method to ensure the stability of the system at various operating points.

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Published

23.03.2026

Issue

Vol. 1 (2022)

Section

Articles