Modification to model reference adaptive control of 5-link exoskeleton with gravity compensation

This paper presents a modified methodology based on the model reference adaptive control (MRAC) for tracking and stability with gravity compensation for the 5-link single support phase lower limb exoskeleton with external disturbance. Different from conventional methods, the proposed method is based on MRAC with adaptive error gain in the presence of external disturbance. Asymptotical stability of the system is investigated by choosing an appropriate lyapunov function, that ensures the convergence of tracking error to zero. The effectiveness of proposed method has been verified with the help of simulation example.