دکتر رضا محبوبی

Reza Mahboobi Esfanjani, PhD
Professor of Control Engineering

Date of Birth:     1980

Education:
 Ph. D. :   Electrical Engineering - Control

                Amirkabir University of Technology,  Tehran, Iran

                2009  (Distinguished Graduate)

Areas of Interests:
 Networked Systems, Time-Delay Systems, Model Predictive Control

Teaching Experience:
 Graduate:             Multivariable Control Systems, Optimal Control,

                              Model Predictive Control,  Control of Time-dealy Systems

 Undergraduate:      Electrical Circuits, Linear Control systems,

                                Digital Control Systems

Publications: 

Books and Book Chapters: 

[1] رضا محبوبی اسفنجانی،  " تجزیه و تحلیل سیستم ها: شرح درس، مثال های حل شده، نکات کلیدی، تست های طبقه بندی شده"، انتشارات علوی فرهیخته، تهران، 1387 (چاپ هشتم 1392).

[2]. H. Rezaei, S. Mohamed, R. Mahboobi Esfanjani, S. Nahavandi, “Improved Robust Kalman Filtering for Uncertain Systems with Missing Measurements”, Lecture Notes in Computer Science, Neural Information Preocessing, (Editors: C.K. Loo et al. ) pp. 509-518, Springer International Publishing, 2014.

-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

 Journal Papers: 

[1]. R. Mahboobi Esfanjani, S. K. Y. Nikravesh, " Stabilising Predictive Control of Nonlinear Time-Delay Systems Using  Control  Lyapunov-Krasovskii  Functionals ", IET Control Theory and Applications, Vol. 3(10), pp. 1395-1400, 2009.

[2]. R. Mahboobi Esfanjani, S. K. Y. Nikravesh, " Predictive Control for a Class of Distributed Delay Systems  Using  Chebyshev  Polynomials ",  International Journal  of Computer Mathematics, Vol. 87(10), pp. 1591-1601, 2010.

[3].  R. Mahboobi Esfanjani, S. K. Y. Nikravesh, " Stabilizing Model Predictive Control of Constrained Nonlinear Distributed Delay systems ", ISA Transactions, Vol. 50,  pp. 201-206, 2011.

[4]. M. Reble, R. Mahboobi Esfanjani, S. K. Y. Nikravesh, F. Allgower, " Model  Predictive  Control  for Constrained  Nonlinear  Time  Delay  Systems ", IMA Journal of Mathematical Control and Information, Vol 28(2), pp. 183-201, 2011.

[5]  H. Rezaei , R. Mahboobi Esfanjani, M. H. Sedaaghi, “ Improved Kalman Filtering for Systems with Randomly Delayed and Lost Measurements ” , Circuits, Systems and Signal Processing, Vol. 33, pp. 2217-2236, 2014.

[6]  M. Mahmodi Kaleybar, R. Mahboobi Esfanjani, “ Stabilization of Networked Control Systems with Variable Delays and Saturating Inputs ”, Iranian Journal of Electrical & Electronic Engineering, Vol. 10, pp. 96 -104, 2014.

[7]  A. Farnam,  R. Mahboobi Esfanjani, “ Improved Stabilization Method for Networked Systems withVariable Transmission Delays and Packet Dropout ”, ISA Transactions, Vol. 53, pp. 1746-1753,  2014.

[8] H. Rezaei, R. Mahboobi Esfanjani, M. H. Sedaaghi, “ Improved Robust Finite-Horizon Kalman Filtering for Uncertain Networked Time-Varying Systems ”, Information Sciences,  Vol. 93, pp. 263-274, 2015.

[9] H. Rezaei, R. Mahboobi Esfanjani, M. Farsi, “ Robust Filtering for  Uncertain Networked Systems  with Randomly Delayed and Lost Measurements ”, IET Signal Processing, Vol. 9(4), pp. 320-327, 2015. 

[10] A. Farnam, R. Mahboobi Esfanjani, M. Farsi, "A Less Conservative Criterion for Stability Analysis of Linear Systems with Time-Varying Delay " , Scientia Iranica, Vol. 22(6), pp. 2415-2423, 2015.

[11]  A. Farnam, R. Mahboobi Esfanjani, " Improved Linear Matrix Inequality Approach to Stability Analysis of Linear Systems with Interval Time-varying Delays ", Journal of Computational and Applied Mathematics, Vol. 294, pp. 49-56, 2016.

[12] S. Marouf, R. Mahboobi Esfanjani, A. Akbari, M. Barforooshan, " T-S Fuzzy Controller Design for Stabilization of Nonlinear Networked Control Systems ", Engineering Applications of Artificial Intelligence, Vol. 50, pp. 135-141, 2016.

[13]  A. Noori, M. Farsi, R. Mahboobi Esfanjani, " Design and Implementation of a Robust  Switching Strategy for DC-DC Converters ", IET Power Electronics, Vol. 9, pp. 316-322, 2016.

[14] M. Barforooshan, R. Mahboobi Esfanjani, "Output Feedback Stabilization Over Finite-bandwidth Communication Channels with Signal-to-noise Ratio Constraint", IMA Journal of Mathematical Control and Information, Vol. 33, pp. 831-842, 2016.

[15] M. Barforooshan, R. Mahboobi Esfanjani, "Stabilization over Frequency-Selective Channels Subject to ‎Transmission Delay and Signal-to-Noise Ratio Limitations", Complexity, Vol. 21, pp. 557-565, 2016.

[16] M. Farsi, R. Mahboobi Esfanjani, " Improved Over-approximation Method for Modeling and Stability Analysis of Networked Control Systems ", Transactions of the Institute of Measurement and Control, Vol. 39, pp. 131-140, 2017.

[17] M. Hosseinzade Yamchi, R. Mahboobi Esfanjani, " Distributed Predictive Formation Control of Networked Mobile Robots Subject to Communication Delay " Robotics and Autonomous Systems, Vol. 91, pp. 194-207, 2017.

[18]  M. Hosseinzade Yamchi, R. Mahboobi Esfanjani, " Formation Control of Networked Mobile Robots with Guaranteed Obstacle and Collision Avoidance ", Robotica, Vol. 35, pp. 1365-1377, 2017.

[19]  اکرم نیک فطرت، رضا محبوبی اسفنجانی، میثم عظیمی "جبران اثر افت و تاخیر تصادفی مشاهدات در هدایت خط دید با استفاده از فیلتر کالمن تطبیقی "، دانش و فناوری هوافضا، دوره 6، شماره 2،  1396.

[20]  M. Hosseinzade Yamchi, R. Mahboobi Esfanjani, " A Decentralized Receding Horizon Optimal Approach to Formation Control of Networked Mobile Robots", Optimal Control Applications and Methods, Vol. 39, pp. 51-64,  2018.

[21] A. Nikfetrat, R. Mahboobi Esfanjani, "Adaptive Kalman Filtering for Systems Subject to Randomly Delayed and Lost Measurments" , Circuits, Systems and Signal Processing, Vol, 37, pp. 2433–2449, 2018.

[22]. R. Esmzad, R. Mahboobi Esfanjani, " Modified likelihood probabilistic data association filter for tracking systems with delayed and lost measurements ", Digital Signal Processing, Vol. 76. pp. 66-74, 2018.

[23] A. Farnam, R. Mahboobi Esfanjani, " Design of Observer-based H∞ Controller for Robust Stabilization of Networked Systems Using Switched Lyapunov Functions" , AIJ- Modelling, Identification, Simulation & Control,  2018.

[24]  حسین شفائیه هیق، رضا محبوبی اسفنجانی، محمد هجری "کنترل پیش بین مبدل‏های چند سطحی چندبخشی با بهره‏ گیری از الگوریتم بهینه ‏سازی رمزگشایی کروی "، نشریه مهندسی برق و مهندسی کامپیوتر ایران، شماره  (1) 16، صفحات 21-28، 1397.

[25]. R. Esmzad, R. Mahboobi Esfanjani, " Modified likelihood Kalman filter for systems with incomplete, delayed and lost measurements ", Systems and Control Letters, Vol. 120, pp. 23-28, 2018.

[26]. H. Seyed Alinezhad,  M. Hosseinzade Yamchi, R. Mahboobi Esfanjani, " Robust synchronization of networked manipulators using distributed dynamic H∞ controllers ", ISA Transactions, Vol. 83, pp. 239-247, 2018.

[27]. A. Nikfetrat, R. Mahboobi Esfanjani, "Self-tuning Kalman filter for compensation of transmission delay and loss in line-of-sight guidance", Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, Vol. 233, pp. 4191-4201, 2019.

[28]. R. Esmzad, R. Mahboobi Esfanjani, "Bayesian filter for nonlinear systems with randomly delayed and lost measurements" , Automatica, Vol. 107, pp. 36-42, 2019.

[29]. S. Rahmanpour, R. Mahboobi Esfanjani, "Energy-aware planning of motion and communication strategies for networked mobile robots", Information Sciences, Vol. 497, pp. 149-164, 2019.

[30]. S. Rahmanpour, R. Mahboobi Esfanjani, "Decentralized Energy-Aware Co-Planning of Motion and Communication Strategies for Networked Mobile Robots", IEEE Transactions on Cognitive and Developmental Systems, Vol. 12, pp. 519-528, 2020.

[31]. R. Ebrahimi Bavili, A. Akbari,  R. Mahboobi Esfanjani, "Passivity-based control of nonlinear teleoperation systems with non-passive interaction forces" Intelligent Service Robotics, Vol. 13, pp. 419-437, 2020.

[32]. H. Rezaei, R. Mahboobi Esfanjani, A. Akbari, MH. Sedaaghi, "Event‐triggered distributed Kalman filter with consensus on estimation for state‐saturated systems", International Journal of Robust and Nonlinear Control, Vol. 30, pp. 8327-8339, 2020.

[33].R. Ebrahimi Bavili, A. Akbari, R. Mahboobi Esfanjani, "Nonlinear Control of Bilateral Teleoperators Interacting Non-passive Termination Forces " AUT Journal of Mechanical Engineering, Vol. 4.3, pp. 7-7, 2020.

[34]رباب ابراهیمی باویلی، احمد اکبری، رضا محبوبی اسفنجانی،" سیستم عمل از دور دوطرفه درحضور نیروهای تماسی غیرمنفعل و عیب عملگرها"، مجله کنترل، شماره 4،صفحات 43-54، 1399

[35].  R. Ebrahimi Bavili, A. Akbari, R. Mahboobi Esfanjani, "Controller design for nonlinear bilateral teleoperation systems via total energy shaping", Mechanical Systems and Signal Processing, Vol. 150, 107239, 2021.

[36]. H. Rezaei, R. Mahboobi Esfanjani, A. Akbari, MH. Sedaaghi, "Scalable event-triggered distributed extended Kalman filter for nonlinear systems subject to randomly delayed and lost measurements", Digital Signal Processing, Vol. 111, 102957, 2021.

[37] رباب ابراهیمی باویلی، احمد اکبری، رضا محبوبی اسفنجانی،" طراحی کنترل کننده مقاوم برای سیستم عمل از دور غیرخطی با روش انفعال محور "، مهندسی مکانیک دانشگاه تبریز،شماره 95،صفحات 1-10، 1400

[38] R. Ebrahimi Bavili, A. Akbari, R. Mahboobi Esfanjani, "Control of Teleoperation Systems in the Presence of Varying Transmission Delay, Non-passive Interaction Forces, and Model Uncertainty, Robotica, Vol. 39 (8), 1451-1467, 2021.

[39] A. Nejadvali, R. Mahboobi Esfanjani, A. Farnam, G. Crevecoeur, "Delay dependent criteria for the consensus of second-order multi-agent systems subject to communication delay ", IET Control Theory and Applications, Vol. 15(13), 1697-1788, 2021.

[40] H. S Alinezhad, R. Mahboobi Esfanjani, “Nonlinear H∞ control for synchronization of networked manipulators subject to delayed communication” Journal of the Franklin Institute, Vol. 359 (2), pp. 999-1017, 2022.

[41] B. Gharib, R. Mahboobi Esfanjani, “Distributed Control of Multi-Robot Systems with Communication Delay for Cooperative Source Seeking” Journal of Control (English Edition), Vol. 1 (1), pp. 85-97, 2022.

[42] F. Rahimi, R. Mahboobi Esfanjani, “Estimating tolerable communication delays for distributed optimization problems in control of heterogeneous multi‐agent systems ”, IET Control Theory & Applications, Vol. 18(5), pp. 626-639, 2024.

[43] T. Hashemi, R. Mahboobi Esfanjani, H. Jafari Kaleybar, “Composite Switched Lyapunov Function-Based Control of DC–DC Converters for Renewable Energy Applications”, Electronics, 13(1), 84, 2024.

[44]. A. Ahmadi, R. Mahboobi Esfanjani, "Automatic tuning of PID controllers using deep recurrent neural networks with pruning based on tracking error", Journal of Instrumentation, 19, 1-15, 2024.

[45]  B. Gharib, R. Mahboobi Esfanjani, “Control of networked robots subject to communication delay and switching connection topology for cooperative source-seeking with collision avoidance” Transactions of the Institute of Measurement and Control, 2024.

-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

 Presentations:

[1]. R. Mahboobi Esfanjani, M. Reble, S. K. Y. Nikravesh, F. Allgower, " Model  Predictive  Control of  Constrained  Nonlinear  Time-Delay  Systems ", 48th IEEE Conference on Decision and Control (CDC), Shanghai, China, 2009.

[2]. R. Mahboobi Esfanjani, F. Towhidkhah, " Application of  Nonlinear Model  Predictive Controller  for  FES  Assisted  Standing Up  in  Paraplegia ", 27th Annual International Conference of the IEEE-EMBS, Shanghai, China, 2005. 

[3]. R.  Mahboobi  Esfanjani,  M.  B.  Menhaj, " Robust   Locomotion  of   biped   Robot   Using   Nonlinear  H∞  Tracking  Controller ", International  Conference on Automation, Control and Instrumentation, Valencia, Spain, 2006. 

[4]. R. Mahboobi Esfanjani, S. K. Y. Nikravesh, " Robust Model Predictive Control for  Constrained  Linear Time-Delay Systems ", 22nd  International  Symposium on Information, Communication and Automation Technologie (ICAT), Sarajevo, 2009.

[5].  A. Sedighi,  R. Mahboobi Esfanjani, " State Observer in Networked Control Systems with Variable Delay in the Feedback Channel",  17th International  Conference on Automation and Computing, Huddersfield, UK, 2011.  

[6].  M. Mahmodi Kaleybar, R. Mahboobi Esfanjani, " Stabilization of Networked Control Systems with  Variable Transmission Delays ", 17th International  Conference on Automation and Computing, Huddersfield, UK, 2011. 

[7].  A. Sedighi,  R. Mahboobi Esfanjani, " State Observer Design for  Networked Control Systems with Variable Delay in the Feedback  and Forward Channels ", 2nd  International  Conference on Control, Instrumentation and Automation, Shiraz, Iran, 2011.  

[8] هادی صمدی، رضا محبوبی اسفنجانی، " پایدارسازی سیستم های کنترل تحت شبکه در حضور تاخیرهای تصادفی"، یازدهمین کنفرانس سیستمهای هوشمند ایران، تهران، 1391

[9]. A. Farnam, R. Mahboobi Esfanjani, “ Improvement of Robust H∞ Controller Design for Networked Control Systems ”, National Congress on Electrical Computer and Information Technology Engineering, Mashhad, Iran, 2012.

[10]. A. Farnam, M. Mahmodi Kaleybar, R. Mahboobi Esfanjani, “ Networked Control of Wheeled Mobile  Robots ”, RSI/ISM International Conference on Robotics and Mechatronics , Tehran, Iran, 2013.

[11]. T. Hashemi, A. Farnam, R. Mahboobi Esfanjani, H. Madadi Kojabadi, “ A New Approach to Design Switching Strategy for the Buck Converters ”, 4th Annual International Power Electronics, Drive Systems and Technologies Conference (PEDSTC), Tehran, Iran, 2013.

[12].  A. Farnam, R. Mahboobi Esfanjani, “ Networked Based H∞ Stabilization of Uncertain Systems ”, 21st Iranian Conference on Electrical Engineering (ICEE), Mashhad, Iran, 2013.

[13]. M. Valedein Asl, R. Mahboobi Esfanjani, “ Stabilization of Networked Control Systems Using Switched Time-delay Systems Theory ”, 3rd  International  Conference on Control, Instrumentation and Automation, Tehran, Iran, 2013.        

[14]. M. Farsi, A. Farnam, R. Mahboobi Esfanjani, “ An Improved H∞ Approach for Networked Control Systems with Transmission Delays and Packet Dropout ”, 22nd Iranian Conference on Electrical Engineering (ICEE),Tehran, Iran, 2014.     

[15]. A. Mohammadzadeh, S. Ghaemi, R. Mahboobi Esfanjani, “ Improved Adaptive Type-2 Fuzzy Control for   High Dimensional Nonlinear Systems ”, 14th Iranian Conference on Fuzzy Systems, Tabriz, Iran, 2014.

[16]. M. Valedein Asl, R. Mahboobi Esfanjani, “ Networked Control of Mobile Robots Using Switched Systems Theory ”, 2nd International Conference on Robotics and Mechatronics, Tehran, Iran, 2014.

[17]. M-R. Khabbazi, R. Mahboobi Esfanjani, “ Constrained Two-stage Kalman Filter for Target Tracking ”, 4th International Conference on Computer and Knowledge Engineering, Mashhad, Iran, 2014.

[18]. A. Noori,  M. Farsi, R. Mahboobi Esfanjani, “ Robust Switching Strategy for Buck-Boost Converters ”, 4th International Conference on Computer and Knowledge Engineering, Mashhad, Iran, 2014.

[19]. M-R. Zamani Behbahani, R. Mahboobi Esfanjani and M. Hejri, " Design of Switching Rule for Buck Converters ‎Using Explicit Predictive Control " , 6th Annual International Power Electronics, Drive Systems and Technologies Conference (PEDSTC), Tehran, Iran, 2015.

[20].M-R. Khabbazi, R. Mahboobi Esfanjani, “ Robust Two-stage Kalman Filtering with State Constraints ”, 23rd Iranian Conference on Electrical Engineering,Tehran, Iran, 2015.

[21]. A. Farnam, R. Mahboobi Esfanjani, A. Ahmadi, "Delay Dependent Criterion for Exponential Stability Analysis of Neural Networks with Time-Varying Delays", 13th IFAC Workshop on Time Delay Systems TDS 2016,  Istanbul, Turkey, 2016.

[22]. H. Seyyed Aalinezhad, R. Mahboobi Esfanjani, "Synchronization of Interconnected Robots Using Distributed H∞ Controllers", 5th International Conference on Robotics and Mechatronics, Tehran, Iran, 2017.

[23]. آیلین نورقاسمی، رضا محبوبی اسفنجانی، " تنظیم مقاوم کنترل‌کننده پیش‌بین اسمیت برای سیستم‌های تاخیردار"، پنجمین کنفرانس بین المللی کنترل، ابزار دقیق و اتوماسیون (ICCIA 2017)، شیراز، 1396.

[24]. مجید ریش ­سفید، آیلین نورقاسمی، رضا محبوبی اسفنجانی، " جبران اثر لقی در حرکت دورانی ماشین کنترل عددی کامپیوتری دو محوره"، پنجمین کنفرانس بین المللی کنترل، ابزار دقیق و اتوماسیون (ICCIA 2017)، شیراز، 1396.

[25].F. Asadi Tirtashi, R. Mahboobi Esfanjani, "Design of Event Generator and Controller for Event-triggered Control of Time Delay Systems", 26th Iranian Conference on Electrical Engineering (ICEE), Mashhad, Iran, 2018. 

[26]. F. Rahimi, R. Mahboobi Esfanjani, "Distributed Predictive Control for Formation of Networked Mobile Robots" , 6d International Conference on Robotics and Mechatronics (ICROM), Tehran, Iran, 2018.

[27]. S. Rahmanpour, R. Mahboobi Esfanjani, "Planning of Communication and Motion Strategies for Networked Mobile Robots" , 9th joint  Conference on Artificial Intelligence and Robotics and 2nd RoboCup Asia-Pacific International Symposium, Kish Island, Iran, 2018

[28]. F. Rahimi, R. Mahboobi Esfanjani, “A Distributed Dual Decomposition Optimization Approach for Coordination of Networked Mobile Robots with Communication Delay”, 9th RSI International Conference on Robotics and Mechatronics (ICRoM), Tehran, Iran, 2021.

[29]. F Rahimi, S Ziaei, R. Mahboobi Esfanjani, “A reinforcement learning-based control approach for tracking problem of a class of nonlinear systems: applied to a single-link manipulator”, 31st International Conference on Electrical Engineering (ICEE), Tehran, Iran, 2023.

[30]. S. Taghizadeh, R. Mahboobi Esfanjani, "Estimation of time-varying and state dependent fault using adaptive observer for a class of discrete-time systems", 9th International Conference on Control, Instrumentation and Automation (ICCIA 2023),  Tehran, Iran, 2023.

[31]. S. Khalilpoor Shadbad, R. Mahboobi Esfanjani, “Hybrid Spacing Policy for Adaptive Cruise Control in Smart Cars”, 9th International Conference on Control, Instrumentation and Automation (ICCIA 2023),  Tehran, Iran, 2023.