| Titre : | AI- based fractional order adaptive control of a medical robot used for upper limb rehabilitation at home |
| Auteurs : | Zakaria Kouzou, Auteur ; Omar Seif Eddine Bencheikh, Auteur ; Ladaci, Samir, Directeur de thèse |
| Type de document : | document électronique |
| Editeur : | [S.l.] : [s.n.], 2026 |
| Format : | 1 fichier PDF (11 Mo) / ill. |
| Note générale : |
Mode d'accès : accès au texte intégral par intranet.
Mémoire de Projet de Fin d'Études : Automatique : Alger, École Nationale Polytechnique : 2026 Bibliogr. p. 120-123 .- Appendis p.124 |
| Langues : | Anglais |
| Index. décimale : | PA00326 |
| Tags : | Rehabilitation robotics Inverse delta parallel robot Fractional calculus Model reference adaptive control Non-singular sliding mode control Artificial intelligence |
| Résumé : |
This project presents the design and modeling of a three-degree-of-freedom inverse Delta paral-lel robot for upper-limb rehabilitation. Kinematic and dynamic models were developed, and the
robot workspace was analyzed to obtain an accurate mathematical representation of its behav-ior. Adaptive nonlinear fractional-order control strategies were proposed to enhance trajectory tracking performance and ensure robust stability. The proposed approaches were evaluated in the MATLAB/Simulink environment using rep-resentative rehabilitation trajectories. Simulation results demonstrated satisfactory tracking accuracy and dynamic performance. In addition, artificial intelligence techniques were inte-grated to support the development of a smarter and more adaptive rehabilitation environment. |
Exemplaires (1)
| Code-barres | Cote | Support | Localisation | Section | Disponibilité | Spécialité | Etat_Exemplaire | ||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| EP01052 | PA00326 | Ressources électroniques | Bibliothèque centrale | Projet Fin d'Etudes | Disponible | Automatique | Téléchargeable |
