Robust model reference adaptive control for five-link robotic exoskeleton
by Saim Ahmed
International Journal of Modelling, Identification and Control (IJMIC), Vol. 39, No. 4, 2021

Abstract: In this paper, H_∞-based model reference adaptive control (MRAC) for controlling five-link lower limb robotic exoskeleton is developed during the single support phase with uncertainties and unknown external disturbances. Unlike classical MRAC, the presented scheme using H_∞ control and MRAC with adaptive error gain is proposed under uncertain parameter vector and external disturbance. For robustness, H_∞ method is applied to minimise the impact of perturbation. Moreover, robust asymptotic stability of the overall system is investigated by Barbalat Lemma selecting a suitable Lyapunov functional candidate. Finally, the efficacy of developed scheme is validated by a relevant example.

Online publication date: Mon, 04-Jul-2022

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