Education:

• Ph.D. in Electrical Engineering (Control Systems), KTH Royal Institute of Technology, May 2021 - May 2026

  • Thesis Title: Funnel-Inspired Closed-Form Control for Satisfaction of Spatiotemporal Constraints and Multi-Agent Coordination
    (Supervisors: Prof. D. V. Dimarogonas, Prof. C. P. Bechlioulis)

  • My thesis develops robust control methods for autonomous systems with uncertain nonlinear dynamics that must satisfy spatiotemporal specifications, requirements that depend jointly on space and time and can be expressed as time-varying constraints. Building on the philosophy of funnel-based control, and in particular prescribed performance control (PPC), the first part of the thesis proposes new closed-form, model-free control schemes that go beyond conventional funnel-based methods: a framework that enforces generic time-varying set invariance for high-relative-degree, multi-input multi-output uncertain systems, and an extension that handles potentially conflicting time-varying hard (safety) and soft (performance) specifications. The second part addresses multi-agent coordination, presenting a coordinate-free formation control scheme for directed leader–follower networks that achieves almost-global convergence to a desired shape with prescribed transient and steady-state performance, enabled by a bipolar-coordinate construction that decouples the formation errors, as well as a distributed, task-based implicit formation determination and control protocol for kinematic agents subject to spatial constraints with respect to other agents and their environment.
    
    

• M.Sc., Electrical Engineering (Control Systems), University of Tabriz, Sep 2015 - Feb 2018:

  • Thesis Title: Formation Control for a Class of Nonlinear Multi-Agent Systems (in Persian) (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., Electrical Engineering (Control Systems), University of Tabriz, Sep 2011 - Jul 2015:

  • Final Project: Sliding Mode Control of a Laboratory Ball & Beam System (in Persian) (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.