Active exoskeleton tracking control system design via singular perturbation technique

Problem of active exoskeleton control system design is discussed. The presented design methodology of the tracking PID multivariable controller for active exoskeleton control system is based on time-scale separation technique (singular perturbation technique). The required control accuracy, almost perfect rejection of nonlinearities, unknown external disturbances, and interactions between exoskeleton joints are provided due to increase of time-scale separation degree between the fast and slow modes that are artificially forced in the closed-loop control system. Simulation results for trajectory tracking control of a two-link exoskeleton manipulator are presented as an example of the proposed design methodology application.