Comparative analysis of iterative LQR and adaptive PD controllers for a lower limb exoskeleton

In the present paper a lower limb exoskeleton is considered. The goal of the paper is to discuss an application of two types of feedback controllers: an iterative LQR and an adaptive PD controller. Comparative analysis of two controllers is done using data from numerical simulation of sit-to-stand motion of the exoskeleton, controlled by each of the controllers. Results of the numerical simulation are given. The results of the numerical simulation show that both controllers display similar behavior. Relative advantages of both controllers are discussed.