All Outputs (4)

Development and control of an upper limb rehabilitation robot via ant colony optimization -PID and Fuzzy-PID controllers (2022)
Journal Article
Mirrashid, N., Alibeiki, E., & Rakhtala, S. M. (2022). Development and control of an upper limb rehabilitation robot via ant colony optimization -PID and Fuzzy-PID controllers. International Journal of Engineering, 35(8), 1488-1493. https://doi.org/10.5829/IJE.2022.35.08B.04

The control of movement rehabilitation robots is necessary for the recovery of physically disabled patients and is an interesting open problem. This paper presents a mathematical model of the upper limb rehabilitation robot using Euler-Lagrange appro... Read More about Development and control of an upper limb rehabilitation robot via ant colony optimization -PID and Fuzzy-PID controllers.

Real-time implementation of a super twisting control algorithm for an upper limb wearable robot (2022)
Journal Article
Fazli, E., Rakhtala, S. M., Mirrashid, N., & Karimi, H. R. (2022). Real-time implementation of a super twisting control algorithm for an upper limb wearable robot. Mechatronics, 84, Article 102808. https://doi.org/10.1016/j.mechatronics.2022.102808

This paper proposes a robust nonlinear controller for an active orthosis. The system is composed of the upper limb orthosis worn by the arm, which can be represented by a nonlinear second-order dynamical model. A robust control strategy is developed... Read More about Real-time implementation of a super twisting control algorithm for an upper limb wearable robot.

PEM fuel cell system to extend the stack life based on a PID-PSO controller design (2022)
Journal Article
Ghasemi, J., Rakhtala, S. M., Rasekhi, J., & Dokhtala, S. R. (2022). PEM fuel cell system to extend the stack life based on a PID-PSO controller design. Complex Engineering Systems, 2(1), Article 4. https://doi.org/10.20517/ces.2022.02

In this paper, the nonlinear model of polymer exchange membrane (PEM) fuel cell system is first extracted and then tested and evaluated for various temperatures and pressures. With the severe nonlinear characteristics of the PEM fuel cell system, usi... Read More about PEM fuel cell system to extend the stack life based on a PID-PSO controller design.

Nonlinear robust controller design for an upper limb rehabilitation robot via variable gain super twisting sliding mode (2022)
Journal Article
Mirrashid, N., Alibeiki, E., & Rakhtala, S. M. (2022). Nonlinear robust controller design for an upper limb rehabilitation robot via variable gain super twisting sliding mode. International Journal of Dynamics and Control, 10(6), 1996-2010. https://doi.org/10.1007/s40435-021-00902-4

Rehabilitation robots have an effective role in helping patients with physical disabilities. Therefore, improving their performance is very important. In this paper, a robust nonlinear controller is proposed for the upper limb rehabilitation robot. T... Read More about Nonlinear robust controller design for an upper limb rehabilitation robot via variable gain super twisting sliding mode.