Adaptive Optimal Control for Upper Exoskeleton following Saturation Function

In this study, a new optimal control based on saturation function for the upper exoskeleton is presented. The saturation model is an advanced model including signum function property, which is symbolized by the sliding mode model. Input control of the system is then designed following the saturation model. The gain of the input control is obtained following adaptation law related to the dynamic parameter of the system. After formulating, the control is simulated for evaluation. The random movement of the upper exoskeleton is applied in the simulation, and the tracking performance is used for the proposed controller. The simulation results show that the proposed control is good performance and can be applied in the real system.