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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Modelling, Identification and Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
