# A hierarchical Lyapunov-based cascade adaptive control scheme for lower-limb exoskeleton

> Research article (European Journal of Control, 2019) · cited 24× · AI/ML

**Wikidata**: [openalex:W2948617723](https://www.wikidata.org/wiki/openalex:W2948617723)  
**Source**: https://4ort.xyz/entity/a-hierarchical-lyapunov-based-cascade-adaptive-control-scheme-for-lower-limb-exoskeleton