Application of Adaptive PD Control to a Biomechanics System Known as Exoskeleton

—The control in biomechanical systems has become an active field of biomedical engineering. This paper describes a design of adaptive control to achieve desired in the system defined as exoskeleton moves, the adaptive method is located is selected taking into account energy savings because the adaptive controller is based on a scheme of variable gain in time Proportional and Derivative respect to PD control. The structure of adaptive gain is determined using a type of control Lyapunov function. The adaptation law uses velocity estimation based on a robust exact differentiator (RED) implemented as a variation of SuperTwisting algorithm. The derivative adaptive proportional controller is evaluated on simulated exoskeleton structure. The set of simulations considers the presence of an external disturbance. The controller proves efficient to counter the effects of external mechanical system. Proposed controller performance was superior to standard proportional derivative controller, and has been shown in this study.