Discussion of a Master's Thesis

The master's thesis of the student Zahra Ali Wahid, specialized in Mechatronics Engineering, was discussed on Monday 24/10/2022 at Hall No. 9 in the Department of Control and Systems Engineering. Her research was entitled: Adaptive Control of Exoskeleton System The discussion committee consisted of:

1. Prof. Dr. Salim Khalifa Kazim / Chairman.

2. Asst. Prof. Shaimaa Mahmoud Mahdi / Member.

3. Asst. Prof. Dr. Iyad Qasim Hussein / Member.

4. Prof. Dr. Amjad Jalil Hamidi / Member and Supervisor

Physiotherapy exoskeleton devices have been recently developed to assist people in rehabilitation of weak movement in their limbs and to replace the use of Physiotherapist. This study addresses the control motion for types of exoskeleton systems dedicated for movement of lower limb (knee-limb) and upper limb (elbow-limb) to assist in their rehabilitation. Three control schemes have been designed for each exoskeleton limb device. These are Sliding Mode Control (SMC), Backstepping Sliding Mode Control (BSMC), and Adaptive Backstepping Sliding Mode Control (ABSMC). The latter controller has been developed to cope with uncertainties in device parameters. The simulation results showed that the three proposed microcontrollers can successfully perform good trajectory tracking. However, the controlled system based on BSMC has better dynamic performance than that based on SMC by 43.0693% for control. Moreover, ABSMC has better performance than SMC and BSMC by 76.3419%, the ABSMC could keep the estimated coefficients bounded, which ensures the stability of the controlled system uncertainties of system parameters. On this occasion, we congratulate the student Zahra Ali Wahid and wish her continued success.