A. A. Abouelsoud

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This paper presents a comparative study between two control approaches; an Exact FeedForward Linearization controller developed by fuzzy-gain scheduling and sliding mode controller based on Ackermann and Utkin method. For the later one the sliding surface dynamics are determined explicitly without transforming to the sliding mode canonical form. The(More)
The estimation of position and velocity of Stewart Manipulator using low cost inertial sensors (accelerometers and gyroscope) and Leg length measurements will be considered. The estimation is based on the integration of different sensors by means of Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). The results of the evaluation of these filter(More)
Recently, the need for assistive devices has increased due to the rapid increase in the aging society. Elderly have weakened muscles in their lower limbs and they are susceptible to chronic injuries because of falling on the ground. They need some assistance to walk normally by themselves. The real-time fall prevention is a challenging problem due to the(More)
This manuscript presents the estimation of both position and velocity of Stewart manipulator using leg length measurements and MEMS inertial sensors. The estimation by using Unscented Kalman Filter (UKF) is based on the combination of different sensors. UKF is used as a nonlinear state estimator to the Stewart platform which is modeled as a stochastic(More)