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Intelligent Tuning of Augmented $L_{1}$ Adaptive Control for Cerebral Palsy Kids Rehabilitation

Abstract : Walking ability can be lost due to several neurological diseases. In this paper, we are interested in the rehabilitation of pediatric patients. For this purpose, an extended L 1 adaptive control has been proposed to control 2 DOF lower limbs exoskele-tons used to rehabilitate kids suffering from Cerebral Palsy (CP). Two methods based on PID controllers have been combined with L 1 adaptive control in order to ensure the limb movement along a predefined trajectory. Then, a comparison study has been established based on tracking errors. Moreover, to improve the robustness of these controllers against uncertainties , several tests with the variations of children masses and lengths have been carried out, with the presence of torque limits using fuzzy logic.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-02115729
Contributor : Ahmed Chemori <>
Submitted on : Tuesday, April 30, 2019 - 2:28:42 PM
Last modification on : Friday, May 28, 2021 - 4:19:40 PM

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Boutheina Maalej, Ahmed Chemori, Nabil Derbel. Intelligent Tuning of Augmented $L_{1}$ Adaptive Control for Cerebral Palsy Kids Rehabilitation. 16th IEEE International Multi-Conference on Systems, Signals and Devices (SSD 2019), Mar 2019, Istanbul, Turkey. pp.231-237, ⟨10.1109/SSD.2019.8893237⟩. ⟨lirmm-02115729⟩

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