Control and Systems Engineering Department discusses a dissertation about Active Disturbance Rejection Control for Exoskeleton System

A dissertation discussed at Control and Systems Engineering Department at the University of Technology, Active Disturbance Rejection Control for Exoskeleton System.

The dissertation of the student Nasser Ahmed Felfel, specializing in control engineering, aimed to propose and validate a robust control approach for lower limb orthotics. This orthodontic device was studied to assist knee flexion-extension movements for people who suffer from knee joint deficiency. A model was presented to straighten the leg and use the Active Disturbance Rejection Control technology, which is an emerging control technology that has the ability to reject all internal and external influences that occur during flexion and extension of the knee joint. The limb was used to help people who suffer from problems in getting up and walking by dealing with a two-step model.

The results showed the quality of the controller’s performance in terms of removing these influences and within the design specifications and required torque. There was a notable reduction 92% in hip errors and an 87% reduction in knee errors when using the RMS index.

  The discussion committee consisted of:

• Dr. Shibli Ahmed Hamid / the head.
• Dr. Safana Madhir Raafat / Member.
• Dr. Abdul Rahim Dhiyab Hammoud /Member
• Dr. Salim Khalifa Kahdim / Member.
• Lec. Dr. Ayad Qasim Hussein / Member.
• Dr. Amjad Jalil Hamidi / Supervisor.