مقالات علمی پژوهشی
Journal Papers (Selected):
72) M. Ataollahi and M. Farrokhi, “Online path planning of cooperative mobile robots in unknown environments using improved Q-Learning and adaptive artificial potential field, “IET - Journal of Engineering, vol. 2023, no. 2, pp. 1-22, 2023.
71) F. Sabbaghian‐Bidgoli and M. Farrokhi, “Robust fuzzy observer‐based fault‐tolerant control: A homogeneous polynomial Lyapunov function approach,” IET Control Theory & Applications, vol. 17, no. 1, pp. 74-91, 2023.
70) H. Toshani and M. Farrokhi, “Optimal discrete-time sliding-mode control based on recurrent neural network: a singular value approach,” Soft Computing, vol. 27, pp. 3083-3094, 2023.
69) S. Nazeran and M. Farrokhi, “2-DoF Self-tuning Fuzzy PID controller for under-actuated inverted pendulum system with uncertainties in model,” Journal of Control, vol. 16, no. 3, pp. 59-69, 2022. (In Persian)
68) N. Kalamain and M. Farrokhi, “Dynamic walking and stepping over large obstacles of biped robots: A poincaré map approach,” Journal of Engineering Science & Technology Review, vol. 15, no. 6, pp., 2022.
67) R. Heydari and M. Farrokhi, Robust event-triggered model predictive control of polytopic LPV systems: An input-to-state stability approach,” Systems & Control Letters, vol. 163, 105202, 2022.
66) F. Sabbaghian and M. Farrokhi, “Polynomial fuzzy observer-based integrated fault estimation and fault tolerant control with uncertainty and disturbance,” IEEE Transactions on Fuzzy Systems, vol. 30, no. 3, pp. 741-754, 2022.
65) F. Sabbaghian-Bidgoli and M. Farrokhi, “Sensor and actuator fault-tolerant control based on fuzzy unknown input observer: A polynomial fuzzy approach,” Applied Soft Computing, vol. 110, 107747, 2021.
64) R. Heydari and M. Farrokhi, “Robust tube-based model predictive control of LPV systems subject to adjustable additive disturbance set,” Automatica, vol. 129, 109672, 2021.
63) M.J. Shekari and M. Farrokhi, D. Arab Khaburi, “Speed Control and Torque Ripple Reduction of Switched Reluctance Motors based on Cascade Loops and Optimal Sliding-mode Controller,” Journal of Control, vol. 14, no. 4, pp. 143-154, 2021. (In Persian)
62) S. Rad-Moghadam and M. Farrokhi, “Optimal output feedback control of a class of uncertain systems with input constraints using parallel feedforward compensator,” Journal of the Franklin Institute, vol. 357, no. 18, pp. 13449-13476, 2020.
61) S RadMoghadam and M Farrokhi, “Adaptive control of robotic fingers for grasping stationary and falling soft balls using fuzzy Sugeno method,” Tabriz Journal of Electrical Engineering, vol. 49, no. 4, pp. 1613-1628, 2020. (In Persian)
60) S Shakourzadeh and M Farrokhi, “Fuzzy-backstepping control of quadruped robots,” Intelligent Service Robotics, vol. 13, no. 2, pp. 191-206, 2020.
59) MR Rahmani and M Farrokhi, “Fractional-order Hammerstein state-space modeling of nonlinear dynamic systems from input–output measurements,” ISA Transactions, vol. 96, pp. 177-184, 2020.
58) H Toshani and M Farrokhi, “Robust chattering-free optimal sliding-mode control using recurrent neural networks: An H∞-based approach,” Transactions of the Institute of Measurement and Control, vol. 41, no. 13, pp. 3565-3580, 2019.
57) R Khonsarian and M Farrokhi, “Vision-Based Model Predictive Control of Wheeled Mobile Robot,” Modares Mechanical Engineering, vol. 19, no. 7, pp. 1767-1777, 2019. (In Persian)
56) H Moodi, M Farrokhi, TM Guerra, and J Lauber, “On stabilization conditions for T–S systems with nonlinear consequent parts,” International Journal of Fuzzy Systems, vol. 21, pp. 84-94, 2019.
55) M Rahmani and M Farrokhi, “Robust identification of MISO neuro-fractional-order Hammerstein systems,” International Journal of Robust and Nonlinear Control, vol. 29, no. 7, pp. 2137-2148, 2019.
54) M Sadeghi and M Farrokhi, “Real-time identification of nonlinear multiple-input–multiple-output systems with unknown input time delay using Wiener model with Neuro-Laguerre structure,” International Journal of Adaptive Control and Signal Processing, vol. 33, no. 1, pp. 157-174, 2019.
53) M Sadeghi and M Farrokhi, “Block-oriented identification of non-linear systems with input time delay in presence of measurement noise: a Laguerre–neural network approach,” Transactions of the Institute of Measurement and Control, vol. 41, no. 1, pp. 117-126, 2019.
52) H Toshani and M Farrokhi, “Optimal sliding-mode control of linear systems with uncertainties and input constraints using projection neural network,” Optimal Control, Applications and Methods, vol. 39, pp. 963-980, 2018.
51) M.R. Rahmani and M. Farrokhi, “Nonlinear dynamic system identification using neuro-fractional-order Hammerstein model,” Transactions of the Institute of Measurement and Control, vol. 40, no. 13, pp. 3872-3883, 2018.
50) B. Vatankhah and M. Farrokhi, “Nonlinear adaptive model predictive control of constrained systems with offset‐free tracking behavior,” Asian Journal of Control, vol. 20, no 1, pp. 1-13, 2018.
49) M.R. Rahmani and M. Farrokhi, “Identification of neuro-fractional Hammerstein systems: a hybrid frequency-/time-domain approach,” Soft Computing, vol. 22, no. 24, pp. 8097-8106, 2018.
48) M. Sadeghi and M. Farrokhi, "Online identification of non-linear dynamic systems by Wiener model using subspace method and neural networks, Transactions of the Institute of Measurement and Control, vol. 40, no. 2, pp. 666-674, 2018.
47) A. Kazemy and M. Farrokhi, "Synchronization of chaotic Lur’e systems with state and transmission line time delay: a linear matri inequality approach, Transactions of the Institute of Measurement and Control, vol. 39, no. 11, pp. 1703-1709, 2017.
46) B. Vatankhah and M. Farrokhi, “Nonlinear model-predictive control with disturbance rejection property using adaptive neural networks,” Journal of the Franklin Institute, vol. 354, no. 13, pp. 5201-5220, 2017.
45) B. Vatankhah and M. Farrokhi, “Offset-free adaptive nonlinear model predictive control with disturbance observer for DC-DC buck converters,” Turkish Journal of Electrical Engineering & Computer Sciences, vol. 25, pp. 2195-2206, 2017.
44) R Heydari, M Farrokhi, “Robust model predictive control of biped robots with adaptive on-line gait generation,” International Journal of Control, Automation and Systems, vol. 15, no. 1, pp. 329-344, 2017.
43) H. Toshani, M. Farrokhi, and Y. Alipouri, "Constarint generalized minimum variance controller design using projection-based recurrent neural network," IET Control Theory and Applications, vol. 11, no. 2, pp. 143-154, 2016.
42) S. Shakourzadeh and M. Farrokhi, "Optimal gait generation for quadruped robots using mesh adaptive direct search, International Journal of Mathematical Modelling and Numerical Optimisation, vol. 7, no.1, pp. 66-68, 2016.
41) H Moodi and M Farrokhi, Robust observer-based controller design for Takagi–Sugeno systems with nonlinear consequent parts, Fuzzy Sets and Systems, vol. 273, pp. 141-154, 2014.
40) R. Heydari and M. Farrokhi, "Model Predictive Control of biped robot in up and down stairs based on neuro-adaptive predictor model," Electronic Industries, vol. 6, no. 2, pp.51-65, 2014. (In Persian)
39) H. Toshani and M. Farrokhi, “Real-time inverse kinematics of redundant manipulators using neural networks and quadratic programming: A Lyapunov-based approach,” Robotics and Autonomous Systems, vol. 62, issue 6, pp. 761-771, 2014.
38) H. Moodi and M. Farrokhi, “On observer-based controller design for Sugeno systems with unmeasurable premise variables,” ISA transactions, vol. 53, no. 2, pp. 305-316, 2014.
37) A.M. Jasour and M Farrokhi, “Adaptive neuro‐predictive control for redundant robot manipulators in presence of static and dynamic obstacles: A Lyapunov‐based approach,” International Journal of Adaptive Control and Signal Processing, vol. 28, issue 3-5, pp. 386-411, 2014.
36) H. Moodi and M. Farrokhi, “Robust observer design for Sugeno systems with incremental quadratic nonlinearity in the consequent,” International Journal of Applied Mathematics and Computer Science, vol. 23, no. 4, pp. 711-723, 2013.
35) M. Jahed and M. Farrokhi, “Robust adaptive fuzzy control of twin rotor MIMO system,” Soft Computing, vol. 17, no. 10, pp. 1847-1860, 2013.
34) A. Kazemy and M. Farrokhi, “Delay-dependent robust absolute stability criteria for uncertain multiple time-delayed Lur’e systems,” Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 227, no. 3, pp. 286-297, 2013.
33) A. Kazemy and M. Farrokhi, "Robust absolute stability of multiple time-delay Lur'e systems with parametric uncertainties," Asian Journal of Control, vol. 15, no. 1, pp. 1-11, 2013.
32) M. Shahriari and M. Farrokhi, "On-line state of health estimation of VRLA batteries using state of charge," IEEE Transactions on Industrial Electronics, vol. 60, no. 1, pp. 191-202, 2013.
31) B. Torkaman and M. Farrokhi, “A Kalman-filter-based method for real-time visual tracking of a moving object using pan and tilt platform,” International Journal of Scientific and Engineering Research, vol. 3, no. 8, pp. 1-6, 2012.
30) M. Navvab Kashani, J. Aminian, S. Shahhosseini, and M Farrokhi, “Dynamic crude oil fouling prediction in industrial preheaters using optimized ANN based moving window technique,” Chemical Engineering Research and Design, vol. 90, no. 7, pp. 938-949, 2012.
29) H. Toshani and M. Farrokhi, “Inverse Kinematics of 7-DOF Robot Manipulator under joint position constraints and obstacles in workspace using neuro-fuzzy network and second-order programming method, Journal of Control, vol. 6, no. 2, pp. 23-37, 2012. (in Persian)
28) S.M. Hoseni and M. Farrokhi, “Free chattering fuzzy sliding mode controllers to robotic tracking problem,” International Journal of Advanced Design and Manufacturing Technology, vol. 5, no. 2, pp. 59-70, 2012.
27) M. Parsa and M. Farrokhi, "Robust trajectory-free model predictive control of biped robots with adaptive gait length, International Journal of Robotics, vol. 2, no. 1, pp. 46-55, 2011.
26) M. Hajatipour and M. Farrokhi, "Increasing accuracy in nonlinear sliding-mode observers without decreasing sampling time using frequency domain analysis," Journal of Mathematical Control and Information, vol. 29, no.1, pp. 1-22, 2011.
25) A. Badkoobeh and M. Farrokhi, “An adaptive approach for optimal path planning of unmanned aerial vehicles,” International Journal of Mathematical Modelling and Numerical Optimisation, vol. 2, no. 4, pp. 422-440, 2011.
24) A. Badkoobeh and M. Farrokhi, “Waypoint tracking of unmanned aerial vehicles using robust H2 / H∞ controller,” International Journal of Systems, Control and Communication, vol. 3, no. 4, pp. 357-376, 2011.
23) S. M. Hoseini, M. Farrokhi, A. Koshkouei, "Robust adaptive control of non-linear non-minimum phase systems with uncertainties," Automatica, vol. 47, issue 2, pp. 348-357, 2011.
22) A. Kazemy and M. Farrokhi, "Line-of-sight stabilization of submarine periscopes," Journal of Control, vol. 4, no. 1, pp. 1-11, 2010. (in Persian)
21) O. Seyyed-Mosavi and M. Farrokhi, "Optimal fuzzy adaptive controller design for manipulators with flexible links," Journal of Electrical Engineering of Tabriz University, vol. 39, no. 2, pp. 49-60, 2010. (in Persian)
20) M. Charkhgard and M. Farrokhi, “State of charge estimation for lithium-ion batteries using neural networks and extended Kalman filter," IEEE Transactions on Industrial Electronics, vol. 57, no. 12, pp. 4178-4187, 2010.
19) S. Mohammad-Hoseini and M. Farrokhi, “Observer-based stabilization of some nonlinear non-minimum phase systems using neural network,” International Journal of Modeling, Identification, and Control, vol. 11, no. 1-2, pp. 15-25, 2010.
18) M. Hajatipour and M. Farrokhi, "Chattering free with noise reduction in sliding-mode observers using frequency domain analysis," Journal of Process Control, vol. 20, issue 8, pp. 912-921, 2010.
17) S. Mohammad-Hoseini, M. Farrokhi, and A. J. Koshkouei, “Adaptive neural network output feedback stabilization of nonlinear non-minimum phase systems,” International Journal of Adaptive Control and Signal Processing, vol. 24, no. 1, pp. 65-82, 2010.
16) A. M. Jasour and M. Farrokhi, “Fuzzy improved adaptive neuro-NMPC for on-line path tracking and obstacle avoidance of redundant robotic manipulators,” International Journal of Automation and Control, vol. 4, no. 2, pp. 177-200, 2010.
15) S. Mohammad-Hoseini and M. Farrokhi, “Neuro-adaptive output feedback control for a class of nonlinear non-minimum phase systems,” Journal of Intelligent and Robotic Systems, vol. 56, no. 5, pp. 487-511, 2009.
14) S. A. Hosseini and M. Farrokhi, “New steady-state Kalman filter for tracking high maneuvering targets,” Journal of Control, vol. 2, no. 2, pp. 1-7, Winter 2009.
13) A. Alfi and M. Farrokhi, “Hybrid state-feedback sliding-mode controller design using fuzzy logic for four-wheel-steering vehicles,” Vehicle System Dynamics, vol. 47, no. 3, pp. 265-284, March 2009.
12) A. Alfi and M. Farrokhi, “A simple structure for bilateral transparent teleoperation systems with time delay,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 130, no. 4, December 2008.
11) A. Alfi and M. Farrokhi, “Bilateral control of teleoperation systems with bounded uncertain time delay,” Iranian Journal of Electrical and Computer Engineering, vol. 7, no. 1, pp. 39-46, Winter/Spring 2008.
10) S. Mohammad-Hoseini, M. Farrokhi, and A. J. Koshkouei, “Robust adaptive control of uncertain non-linear systems using neural networks,” International Journal of Control, vol.81, no. 8, pp. 1319-1330, August 2008.
9) A. Alfi and M. Farrokhi, “Force reflecting bilateral control of master-slave systems in teleoperation,” Journal of Intelligent and Robotic Systems, vol. 52, no. 2, pp. 209-232, June 2008.
8) M. Hajatipour and M. Farrokhi, “Adaptive intelligent speed control of switched reluctance motors with torque ripple reduction,” Energy Conversion and Management, vol. 49, issue 5, pp. 1028-1038, May 2008.
7) A. Ghaemi, Sh. Shahhoseini, M. G. Marageh, and M. Farrokhi, “Prediction of vapor-liquid equilibrium for aqueous solutions of electrolytes using artificial neural networks,” Journal of Applied Sciences, vol. 8, no. 4, pp. 615-621, 2008.
6) M. Mohebbi and M. Farrokhi, “Adaptive neuro control of parallel hybrid electric vehicles,” International Journal of Electric and Hybrid Vehicles, vol.1, no. 1, pp. 3-19, 2007.
5) A. Fanaei, M. Farrokhi, “Robust adaptive neuro-fuzzy controller for hybrid position/force control of robot manipulators in unknown environment,” Journal of Intelligent and Fuzzy System, vol. 17, no.2, pp. 125-144, 2006.
4) R. Noorossana, M. Farrokhi, and A. Saghaei, “Using neural networks to detect and classify out-of-control signals in autocorrelated processes,” Quality and Reliability Engineering International, vol. 19, pp. 493-504, Dec. 2003.
3) A. Ghanbari and M. Farrokhi, “Decentralized control of two-dimensional inverted pendulum using neuro-fuzzy modeling,” International Journal of Engineering Sciences, vol. 13, no. 1, pp. 137-161, 2002. (in Persian)
2) B. Rezaei, M.R. Jahedmotlagh, and M. Farrokhi, “Local fuzzy controllers in HVDC Systems,” Journal of Power Sciences, vol. 15, no. 1, pp. 73-83, 2002. (in Persian)
1) M. Farrokhi and A. Kaveh, “Learning processes in neural networks,” Journal of the Academy of Sciences of Iran, vol. 5, no. 10 & 11, 1998. (in Persian)