Alireza Alikhani

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Associate Professor

Ph.D.  in Mechanical Engineering (Control and Robotic)

Dissertation: Design, Fabrication and Stiffness Control of a Cable Driven Robot and its Analysis in Presence of Cables Static deformation 


M.Sc. in Mechanical Engineering (Control and Robotic)

Thesis: Adaptive control of a three DOF parallel Manipulator


B.Sc. in Mechanical Engineering

Senior project: Design a Robotic welding cell of a automobile manufacturing body shop



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Web Site Address:


Research Interests 

  • Robotics and Mechatronics
  • Fault Tolerant Control Systems
  • Underactuated Dynamic Systems




 Journal Papers:

1. "Dynamic Terminal Sliding Mode Control for an Aerospace Launch Vehicle", JSST. 2016

2. "Workspace Analysis of a Three DOF Cable-driven Mechanism", ASME Journal of Mechanisms and Robotics, Vol. 1, No. 4, pp. 041005.1-041005.7, 2009.

3. "Design of a Large Scale Cable-driven Robot with Translational Motion", Journal of Robotics and Computer Integrated Manufacturing, Vol.27, pp. 357-366, 2011.

4. "Time-Invariant State Feedback Control Laws for Underactuated Mechanical Systems Using Linear State Bisection", Accepted in Amirkabir International Journal of Science and Research, 2016

5. “Photonic crystal power combiner based on hexagonal waveguides”, Optik - International Journal for Light and Electron Optics-Elsevier, 2016

6. “Experimental validation of a novel radiation based model forspacecraft attitude estimation”, Sensors and Actuators A: Physical, 2016.

7. “Time Invariant state feedback control laws for a special form of underactuated nonlinear systems using linear state bisection”,  Amirkabir International Journal of Science and control, Vol. 48, No. 2, Fall 2016, pp. 111-121

8. “Passive fault tolerant control of an underactuated re-entry capsule”, Journal of Aerospace Technology and Management, 2016

9. “Compensating for the effects of fault estimation error and delay in angular velocity stabilization”, Journal of Aerospace Technology and Management, 2017

10. “Ultimate State boundedness of underactuated spacecraft subject to an unmatched disturbance”, Journal of Theoretical and Applied Mechanics, 2017

11. “Performance of A Novel Heat Based Model for Spacecraft Attitude Estimation”, Aerospace Science and Technology, 2017

12. “Multi-Objective Optimization in Graceful Performance Degradation and its Application in Spacecraft Attitude Fault-Tolerant Control”, Aerospace Science and Technology, 2017

13. “A Heuristic Active Fault Tolerant Controller for the Stabilization of Spacecraft”, Acta1034, accepted.




 Book Chapters:


 Conference Papers:

1- ” Modeling and Robust Control of a New Large Scale Suspended Cable-driven Robot under Input Constraint”, The 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2011), 2011 in SongdoConventiA, Incheon, Korea.

2- "Sliding Mode Control of a Cable-driven Robot via Double-Integrator Sliding Surface",2012 International Conference on Control, Robotics and Cybernetics (ICCRC 2012).

3- "Dynamic Terminal Sliding Mode Control for an Aerospace Launch Vehicle", International Conference on Mechanical Engineering and Advanced Technology, October 2012-, Isfahan, Iran

4- " Control the Swing and Position of a Gantry Crane With Full State Feedback Control", 1th international conference in advance mechanics, May 2-5, 2006 Aleppo, Syria.

5- " Active Reduction  of vibration of  the shell panel composites embedded with Piezoelectric Actuators", SF2M ,JA2005, 25-27 October, paris, france, 2005.

6- “Modeling, Control and Simulation of a new Large Scale Cable-driven Robot”, Proceedings of the ASME 2009 International Design Engineering Technical Conferences    & Computers and Information in Engineering Conference,IDETC/CIE,  San Diego, California, USA

7- " Design and Implementation of a PC-Based Controller for a New Cable Driven Robot", IASTED 2010, robo2010, Thailand, 2010.

8- Refrence trajectory management using piecewise cubic hermite interpolating polynomials  15th Iranian Aerospace Conference.


9-  “Comparing the Performance of Reference Trajectory Management and Controller Reconfiguration in Attitude Fault Tolerant Control”, 2017 Asia Conference on Mechanical and Aerospace Engineering (ACMAE 2017)


Teaching Experiences


1- Optimal Control

2- Advance Mathematics

3- Advance Robotics

4- Dynamic and Control of Spacecraft

5- Dynamic and Control of Space Vehicle


1- Dynamics

2- Engineering Mathematics

3- Robotics


Research Supervision

 1- Design, Simulation and Control of a Novel Locomotion Mechanism for a Worm-Like Robot

2- Sliding Mode Autopilot Design for a Launch Vehicle

3- Spacecraft Attitude Estimation via Nonlinear Filtering Using Thermal Sensors

4- The design of System health monitoring for A spacecraft attitude control   

5- Reliability Assessment and Improvement Of Inertial Measurement Unit FDI Module

6- Adaptive Control for Space Capsule in the Presence of Uncertain Dynamic Parameters During the Atmospheric Entry Phase

7- Optical gyroscope design based on rotating photonic crystal




Professional Experiences




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