Hamid Taghavifar

MECH 6681: Dynamics and Control of Nonholonomic Systems

Kinematics of nonholonomic systems; dynamics of nonholonomic systems, including d’Álembert principle, Euler-Lagrange equations; equations of motion of nonholonomic systems with Lagrangian multipliers; the reaction of ideal nonholonomic constraints; nonholonomic Chaplygin systems; Bifurcation and stability analysis of the nonholonomic systems. Analysis and design of nonlinear control of nonholonomic systems, including kinematic control and dynamic control as well as force control. Controller designs with uncertain nonholonomic systems. Application examples including control of wheeled mobile robots and walking robots. A project is required.

MECH373: Instrumentation and Measurements

This course covers the following topics: unified treatment of measurement of physical quantities; static and dynamic characteristics of instruments (calibration, linearity, precision, accuracy, and bias and sensitivity drift); sources of errors; error analysis; experiment planning; data analysis techniques; principles of transducers; signal generation, acquisition and processing; principles and designs of systems for measurement of position, velocity, acceleration, pressure, force, stress, temperature, flow-rate, and proximity detection. The course includes demonstration of various instruments.

MIAE 215: Programming for Mechanical and Industrial Engineers

This course focuses on writing programs using assignment and sequences; variables and types; operators and expressions; conditional and repetitive statements; input and output; file access; functions; program structure and organization; pointers and dynamic memory allocation; introduction to classes and objects; mechanical and industrial engineering applications.

Selected Peer-Reviewed Publications

36. Taghavifar, H., Chongfeng Wei, Leyla Taghavifar, 2024. Socially Intelligent Reinforcement Learning for Optimal Automated Vehicle Control in Traffic Scenarios. IEEE Transactions on Automation Science and Engineering, DOI: 10.1109/TASE.2023.3347264.

35. Taghavifar, H., Aref Mardani. 2024. Gaussian Process with Automatic Relevance Determination Predictive Model for Energy Management of Electric Direct-Drive Wheels: Experimental Validation. IEEE Transactions on Vehicular Technology, 73(2), 1910–1917.

34. Hu, C., Taghavifar, H., Xin Liao, Jing Na, Yu Zhang, Yechen Qin. 2024. Adaptive Synthesized Fault-Tolerant Autonomous Ground Vehicle Control with Guaranteed Performance and Saturated Input. IEEE Transactions on Vehicular Technology, DOI: 10.1109/TVT.2024.3415664.

33. Mohammadzadeh, A., Taghavifar, H., Youmin Zhang, Wenjun Zhang, 2024. A Fast Non-Singleton Type-3 Fuzzy Predictive Controller for Nonholonomic Robots under Sensor and Actuator Faults and Measurement Errors. IEEE Transactions on Systems, Man, and Cybernetics: Systems, DOI: 10.1109/TSMC.2024.3375812.

32. Taghavifar, H., Mohammadzadeh, A., Zhang, W., Zhang, C., 2024. Nonsingular Fractional-Order Terminal Sliding Mode with Nonsingleton Gaussian Type-3 Fuzzy System for Path Tracking of Autonomous Cars Under Measurement Errors and Faulty Sensors. ISA Transactions, 146:75–86.

31. Taghavifar, H., Hu, C., 2024. A Finite-Time Path-Tracking Control Algorithm for Nonholonomic Mobile Robots with Unknown Dynamics and Subject to Wheel Slippage/Skid Disturbances. IMechE, Part I: Journal of Systems and Control Engineering.

30. Xue, W., Zhou, B., Chen, F., Taghavifar, H., Mohammadzadeh, A., Ghaderpour, E., 2024. A Constrained Fuzzy Control for Robotic Systems. IEEE Access, 12: 7298–7309.

29. Taghavifar, H., Mohammadzadeh, A., 2024. Integrating Deep Reinforcement Learning and Social-Behavioral Cues: A New Human-Centric Cyber-Physical Approach in Automated Vehicle Decision-Making. IMechE, Journal of Automobile Engineering, DOI: 10.1177/09544070241230126.

28. Taghavifar, H., 2023. Adaptive Robust Terminal Sliding Mode Control with Integral Backstepping Synthesized Method for Autonomous Ground Vehicle Control. Vehicles, 5(3), 1013–1029.

27. Taghavifar, H., Shojaei, K., 2023. Adaptive robust control algorithm for enhanced path-tracking performance of automated driving in critical scenarios. Soft Computing, 27(13), 8841-8854.

26. Tian, M.W., Alattas, K.A., Guo, W., Taghavifar, H., Mohammadzadeh, A., Zhang, W., Zhang, C., 2023. A strong secure path planning/following system based on type-3 fuzzy control, multi-switching chaotic systems, and random switching topology. Complex and Intelligent Systems, DOI: 10.1007/s40747-023-01248-4.

25. Mohammadzadeh, A., Taghavifar, H., Zhang, C., Alattas, A., Liu, J., Vu, M.T., 2023. A Nonlinear Fractional-order Type-3 Fuzzy Control for Enhanced Path-Tracking Performance of Autonomous Cars. IET Control Theory & Applications (Accepted Paper).

24. Taghavifar, H., 2023. Robust AISMC-neural network observer-based control of high-speed autonomous vehicles with unknown dynamics. IMechE, Part D: Journal of Automobile Engineering, DOI: 10.1177/09544070221145742.

23. Taghavifar, H., Hu, C., Taghavifar, L., Qin, Y., Wei, C., 2023. Optimal Reinforcement Learning and Probabilistic Risk-Function-Based Path-Planning of Autonomous Vehicles with Obstacle Avoidance Framework. IMechE, Part D: Journal of Automobile Engineering, DOI: 10.1177/095440702211492.

22. Shojaei, K., Taghavifar, H., 2022. Input-output feedback linearization control of a tractor with n-trailers mechanism considering the path curvature. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 236(17), 9700-9715.

21. Taghavifar, H., 2021. Neural Network Autoregressive with Exogenous Input Assisted Multi-Constraint Nonlinear Predictive Control of Autonomous Vehicles for Path-Following Performance with Rollover Prevention. IEEE Transactions on Vehicular Technology, 68(7), 6293-6304.

20. Taghavifar, H., Qin, Y., Hu, C., 2021. Adaptive Immersion and Invariance Induced Optimal Robust Control of Unmanned Surface Vessels with Structured/Unstructured Uncertainties. Ocean Engineering, 239, 109792.

19. Taghavifar, H., Rakheja, S., Reina, G., 2021. A Novel Optimal Path-Planning and Following for Wheeled Robots on Deformable Terrains. Journal of Terramechanics, DOI: 10.1016/j.jterra.2020.12.001.

18. Zhou, Z., Taghavifar, H., Du, H., Qin, Y., Dong, M., Gu, L., 2021. In-Wheel Motor Vibration Control for Distributed-Driven Electric Vehicles: A Review. IEEE Transactions on Transportation Electrification, 7(4), 2864-2880.

17. Taghavifar, H., 2021. Adaptive Robust Control-Based Energy Management of Hybrid PV-Battery Systems with Improved Transient Performance. International Journal of Hydrogen Energy.

16. Taghavifar, H., 2021. A Novel Approach of Vibrational Energy Harvesting for Hybrid Electromagnetic Suspension System of Off-Road Vehicles Considering Terrain Deformability. Mechanical Systems and Signal Processing, 146(1).

15. Amirkhani, A., Shirzadeh, M., Tork, N., Taghavifar, H., 2021. Trajectory Tracking of a Quadrotor Using a Robust Adaptive Type-2 Fuzzy Neural Controller Optimized by Cuckoo Algorithm. ISA Transactions, DOI: 10.1016/j.isatra.2020.12.047.

14. Taghavifar, H., 2021. Integrated AFS/DYC Adaptive Robust Control of Vehicle Lateral Dynamics Using Nonlinear Observer-Based Exponential Sliding Mode-RBF Neural Network Approach. IMechE, Part D: Journal of Automobile Engineering, 235(14), 3474–3486.

13. Taghavifar, H., Rakheja, S., 2020. A Robust Adaptive Indirect ISMC-NN Path-Tracking Control of Terrain-Based Wheeled Robots Considering Uncertainty and External Disturbance Using Terramechanics Concepts. IEEE Transactions on Vehicular Technology, 69(1), 67-77.

12. Taghavifar, H., Mohammadzadeh, A., 2020. A Novel Adaptive Control Approach for Path Tracking Control of Autonomous Vehicles Subject to Uncertain Dynamics. IMechE, Part D: Journal of Automobile Engineering, 234(8), 2115-2126.

11. Taghavifar, H., 2020. EKF estimation based PID Type-2 fuzzy control of electric cars. Measurement, DOI: 10.1016/j.measurement.2020.108557.

10. Taghavifar, H., Hu, C., Qin, Y., Wei, C., 2020. EKF-NN Observer Based Type-2 Fuzzy Control of Autonomous Vehicles. IEEE Transactions on Intelligent Transportation Systems, DOI: 10.1109/TITS.2020.2985124.

9. Hu, C., Taghavifar, H., Qin, Y., Na, J., 2019. RISE-Based Integrated Lane-Keeping and Roll Control of Autonomous Ground Vehicles with Asymptotic Prescribed Performance. IEEE Transactions on Systems, Man, and Cybernetics: Systems, DOI: 10.1109/TSMC.2019.2950468.

8. Taghavifar, H., Hu, C., Qin, Y., Wei, C., Wang, Y., 2020. Commercial Vehicle-Based Robust Control of Seated Whole-Body Vibration Using Adaptive Indirect Type-2 Fuzzy Neural Network. IEEE Access, DOI: 10.1109/ACCESS.2020.3000514.

7. Taghavifar, H., Xu, B., Taghavifar, L., Qin, Y., 2019. Optimal Path-Planning of Nonholonomic Terrain Robots for Dynamic Obstacle Avoidance Using Single-Time Velocity Estimator and Reinforcement Learning Approach. IEEE Access, 7, 159347-159356.

6. Hu, C., Wang, Z., Taghavifar, H., Na, J., Qin, Y., Guo, J., Wei, C., 2019. MME-EKF and Adaptive Neural Network-Based Robust Path-Following of Autonomous Ground Vehicles with Integral Sliding Mode Control. IEEE Transactions on Vehicular Technology, 68(6), 5246-5259.

5. Taghavifar, H., Rakheja, S., 2019. Path-Tracking of Autonomous Vehicles Using a Novel Adaptive Robust Exponential-Like-Sliding-Mode Fuzzy Type-2 Neural Network Controller. Mechanical Systems and Signal Processing, 130, 41-55.

4. Taghavifar, H., Mardani, A., Hu, C., Qin, Y., 2019. Adaptive Robust Nonlinear Active Suspension Control Using an Observer-Based Modified Sliding Mode Interval Type-2 Fuzzy Neural Network. IEEE Transactions on Intelligent Vehicles, DOI: 10.1109/TIV.2019.2955365.

3. Mohammadzadeh, A., Taghavifar, H., 2020. A Robust Fuzzy Control Approach for Path-Tracking Control of Autonomous Vehicles. Soft Computing, 24, 3223-3235.

2. Taghavifar, H., Rakheja, S., 2019. Multi-Objective Optimal Robust Seat Suspension Control of Off-Road Vehicles in the Presence of Disturbance and Parametric Uncertainty Using Metaheuristics. IEEE Transactions on Intelligent Vehicles, DOI: 10.1109/TIV.2019.2960927.

1. Taghavifar, H., Hu, C., Taghavifar, L., Qin, Y., Wei, C., 2020. Adaptive Optimal Robust Control of Vehicle Lateral Stability Using Damped Least-Square Backpropagation Training of Neural Networks. Neurocomputing, 384, 256-267.