Education:
Licentiate Degree in Electrical Engineering, KTH Royal Institute of Technology, May 2021 - Jan 2024
Thesis Title: Funnel-Based Control for Coupled Spatiotemporal Specifications (Supervisors: Prof. D. V. Dimarogonas, Prof. C. P. Bechlioulis)
The thesis begins with exploring the application of funnel-based control designs to address performance specifications in coordinate-free formation control of multi-agent systems. In the next part, new robust funnel-based feedback control schemes are developed for dealing with coupled spatiotemporal constraints in uncertain nonlinear systems, which conventional funnel-based control methods cannot directly address.
M.Sc., Control Engineering, University of Tabriz, Sep 2015 - Feb 2018:
Thesis Title: Formation Control for a Class of Nonlinear Multi-Agent Systems (Supervisors: Prof. F. Hashemzadeh, Prof. M. Baradarannia)
The focus of my master’s thesis was on synthesizing controllers for driving a group of locally interacting agents (robotic vehicles) to form and maintain a prescribed geometrical shape. More specifically, in my master's thesis, I studied the distance-based formation control problem for a group of single and double integrator agents with collision avoidance and connectivity maintenance. Moreover, the results extended to heterogeneous Euler-Lagrange dynamical agents (as a case study: non-holonomic mobile robots) subjected to external disturbances and dynamical uncertainties. In this work, adaptive control, rigid graph theory, and the prescribed performance control technique were used to tackle the problem.
B.Sc., Control Engineering, University of Tabriz, Sep 2011 - Jul 2015:
Final Project: Sliding Mode Control of a Laboratory Ball & Beam System (Supervisor: Prof. H. Kharrati)
In my final B.Sc. project, I studied sliding mode control for a Ball & Beam system. We were two B.Sc. students working on this project. Using MATLAB Simulink environment and an Arduino board, the results were tested on an experimental Ball & Beam setup. The setup primarily was designed to be used with vision-based control approaches; however, to obtain the position feedback of the ball, we equipped it with IR range sensors.