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In this paper, a Proportional-Integral-Derivative (PID) controller tuning scheme by Initialized Model Reference Adaptive Control (IMRAC) for a Lower Limb Exoskeleton (LLE) is presented. Mathematical expression of the LLE structure is determined using Lagrangian and Kirchoff’s equations. The transfer function of the structure based on the physical features of the links, and actuators is established under Range of Motion (RoM) condition. The PID controller of the LLE is tuned in a closed-loop control system using Ziegler-Nichols (Z-N) for initializing parameters of IMRAC. Adjustment mechanism is a gradient based method for real-time adaptation of tuned PID controller. A Lyapunov function has been applied to confirm the stability of IMRAC. The proposed IMRAC shows faster convergence in comparison with conventional non-initialized model reference adaptive control. It can be ascertained the proposed tuning scheme is applicable for real-time tuning of PID controller of LLE.

Initialized Model Reference Adaptive Control for Lower Limb Exoskeleton