Brief CV
َAli Keymasi Khalaji
Associate professor of mechanical engineering
Field of Research: Control and Robotics
Summary of Scientific and Research Activities:
Publishing more than 50 journal papers
Publishing more than 25 conference proceedings
Supervising and advising more than 15 M.Sc. theses
E-mail: keymasi[AT]khu.ac.ir
keymasi[AT]gmail.com
Associate professor of mechanical engineering
Field of Research: Control and Robotics
Summary of Scientific and Research Activities:
Publishing more than 50 journal papers
Publishing more than 25 conference proceedings
Supervising and advising more than 15 M.Sc. theses
E-mail: keymasi[AT]khu.ac.ir
keymasi[AT]gmail.com
Educational records
#
Course
University
City
Country
Graduation Date
Total mean
1
B.Sc.
Iran University of Science & Technology
Tehran
Iran
2007
2
M.Sc.
K. N. Toosi University of Technology
Tehran
Iran
2009
3
Ph.D.
K. N. Toosi University of Technology
Tehran
Iran
2014
Awards & honors
#
title
Date
1
The best PhD thesis award of the year 2014-2015 selected by the Iranian Society of Mechanical Engineers-ISME
April 2015
Research interests
#
Title
Start date
1
Robotics, Mobile Robots
2009
2
Nonlinear Control, Adaptive Control, Multivariable Control, Optimal Control
2009
3
Modeling of Mechanical Systems
2009
4
Systems Identification
2009
5
Soft Computing & Intelligent Control
2009
Theses supervised
#
Title
Persons
1
Passivity based control of an underwater robot
Monem Haghjoo
2
Modelling & Elastic stability analysis of parallel continuum robots using cosserat theory
Seyed Morteza Ghafoori Yazdi
3
Integrated control of an intelligent vehicle with road friction estimation
Elahe Samiei
4
Modeling, planning and control of a cable-driven rehabilitation robot for gait training
Niloufar Sadat Seyfi
5
Modeling and control of a quadrotor in emergency situations
Iman Saadat
6
Modeling and control of a tractor-trailer wheeled robot in presence of wheels slip
Mostafa Jalalnezhad
7
Modeling and backward motion control of a tractor-trailer wheeled robot
Abolfazl Yazdani
8
Control of Active Leg Rehabilitation Robot with the Estimation of Patient Participation
عاطفه بهبودی
9
Control of a underwater welding robot in 3D motions with the compensation of environmental disturbances
Fatemeh Savaedi Safihi
10
Control of a quadrotor for the manipulation of uncertain objects from a moving platform
Tahmoures Rastegar Amoughin
11
Modeling and Control of a bi-rotor in tracking reference trajectories
Mohammad Ganji-Nahoji
12
Tracking control of a spherical mobile robot in the presence of slip effects
Dina Mozaffari
13
Modeling and control of Delta robot with hydraulic actuator
Navid Gholami
14
Modelling and elastic stability analysis of a parallel continuum robot using cosserat theory
Seyed Morteza Ghafoori Yazdi
15
Control of a wheeled robot using learning algorithms in the presence of uncertainties and disturbances
Nava Rezvani
16
Modeling and control of a Delta robot with hydraulic actuator
Navid Gholami
17
Control of an Autonomous Underwater Vehicle With Input Saturation
Zaki Alzabhavi
18
Control of a Group of Uncertain Wheeled Robots with Global Inputs
Mohammadbagher Maghsoodi Mehrabani
19
Control of an electrostatic MEMS actuator in presence of fringing field with curved electrodes
زینب پاداشتیان
Theses advised
#
Title
Persons
1
Path/Trajectory Planning and Control of an Underwater Robot
Fahimeh S. Tabataba’i-Nasab
2
Design, modeling and force control of a new wrist rehabilitation robot
Hosein Bagherloo
3
Learning-based path tracking control for tractor-trailer wheeled robots with unknown dynamics
علی اکبر قاسم زاده
Course taught
#
Lesson Title
Place & Date of Lecture
1
Nonlinear Control
Kharazmi Universilty
2
Advanced Control
Kharazmi Universilty
3
Advanced Dynamics
Kharazmi Universilty
4
Advanced Robotics
Kharazmi Universilty
5
Automatic Control
Kharazmi Universilty
6
Simulation of Dynamic Systems and Control
Kharazmi Universilty
7
Dynamics
Kharazmi Universilty
8
Dynamics of Machinery
Kharazmi Universilty
9
Engineering Mathematics
Kharazmi Universilty
10
Dynamics of Machinery and Vibrations Laboratory
Kharazmi Universilty
11
Drawing 1
Kharazmi Universilty
12
Drawing 2
Kharazmi Universilty
Published articles
#
Paper title
Writer
Magazine title
Publish year
Publish type
Article type
1
Adaptive dynamic programming for trajectory tracking control of a tractor?trailer wheeled mobile robot
Aliakbar Ghasemzadeh, Roya Amjadifard, Ali Keymasi Khalaji
IET Control Theory and Applications
2025
Full Text
2
Adaptive RBFNN based predictive control for the nanopositioning of an electrostatic MEMS actuator
Nava Rezvani, Ali Keymasi Khalaji
IET Control Theory and Applications
2024
Full Text
3
Fault tolerant fixed time prescribed performance control of MEMS gyroscope
Seyed mohammadreza Esmaeili, Rasoul Zahedifar, Ali Keymasi Khalaji
IET Control Theory and Applications
2024
Full Text
4
Lyapunov-Based Tracking Control of a Bi-Rotor
Mohammad Ganji Nahoji, Ali Keymasi Khalaji
Journal of Applied and Computational Mechanics
2024
Full Text
5
Quadrotor control in complex manoeuvres using a hybrid backstepping and feedback linearisation control strategy
Ali Keymasi Khalaji, Iman Saadat
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS
2024
Full Text
6
Passivity-based stabilizing controller for an underwater robot
Ali Keymasi Khalaji, Monem Haghjoo sanijee
OCEAN ENGINEERING
2024
Full Text
7
Friction-Adaptive Integrated Position Control for Vehicles on Curved Paths
Hadi Sazgar, Ali Keymasi Khalaji
International Journal of Advanced Design and Manufacturing Technology
2024
Full Text
8
Trajectory Tracking Control of a Novel Planner Continuum Robot
Seyed Shoja Amini, Ali Keymasi Khalaji
International Journal of Advanced Design and Manufacturing Technology
2023
Full Text
Original Article
9
Nonlinear integrated control with friction estimation for automatic lane change on the highways
Hadi Sazgar, Ali Keymasi Khalaji
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS
2023
Full Text
Original Article
10
Control of a group of uncertain wheeled robots with global inputs in the presence of obstacles
Mohammadbagher Maghsoudimehrabani, Ali Keymasi Khalaji, Mahdi Ghane
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS
2023
Full Text
Original Article
11
A physically motivated control algorithm for an autonomous underwater vehicle
Ali Keymasi Khalaji, Mahdi Ghane
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
2022
Full Text
Original Article
12
Design, Modeling and Control of a Simulator of an Aircraft Maneuver in the Wind Tunnel Using Cable Robot
Hami Tourajizadeh, Mahdi Yousefzadeh, Ali Keymasi Khalaji, Mahdi Bamdad
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
2022
Full Text
Original Article
13
Robust control of a cable-driven rehabilitation robot for lower and upper limbs
Niloufar sadat Seyfi, Ali Keymasi Khalaji
ISA TRANSACTIONS
2022
Full Text
Original Article
14
Robust Lyapunov-based motion control of a redundant upper limb cable-driven rehabilitation robot
Niloufar sadat Seyfi, Ali Keymasi Khalaji
ROBOTICA
2022
Full Text
Original Article
15
Adaptive passivity-based control of an autonomous underwater vehicle
Ali Keymasi Khalaji, Monem Haghjoo sanijee
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
2022
Full Text
Original Article
16
Control of blood glucose induced by meals for type-1 diabetics using an adaptive backstepping algorithm
Rasoul Zahedifar, Ali Keymasi Khalaji
Scientific Reports
2022
Full Text
Original Article
17
Adaptive fault-tolerant control for an autonomous underwater vehicle
Fahimeh S. Tabatabaee-Nasab, S. Ali A. Moosavian, Ali Keymasi Khalaji
ROBOTICA
2022
Full Text
Original Article
18
Finite-time sliding mode control of underwater vehicles in 3D space
Ali Keymasi Khalaji, Shahabedin Bahrami
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
2022
Full Text
Original Article
19
Stabilization of a Tractor with n Trailers in the Presence of Wheel Slip Effects
Ali Keymasi Khalaji, Mostafa Jalalnezhad
ROBOTICA
2021
Full Text
Original Article
20
Robust forward backward control of wheeled mobile robots
Ali Keymasi Khalaji, Mostafa Jalalnezhad
ISA TRANSACTIONS
2021
Full Text
Original Article
21
Lyapunov-Based Formation Control of Underwater Robots
Ali Keymasi Khalaji, Rasoul Zahedifar
ROBOTICA
2020
Full Text
Original Article
22
Nonlinear Lyapounov based control of an underwater vehicle in presence of uncertainties and obstacles
Ali Keymasi Khalaji, Hami Tourajizadeh
OCEAN ENGINEERING
2020
Full Text
Original Article
23
Backward and forward path following control of a wheeled robot
Ali Keymasi Khalaji, Abolfazl Yazdani
Journal of Control
2020
Full Text
Original Article
24
Modeling and experimental analysis of a multi-rod parallel continuum robot using the Cosserat theory
Seyed Morteza Ghafoori Yazdi, Ali Keymasi Khalaji
ROBOTICS AND AUTONOMOUS SYSTEMS
2020
Full Text
Original Article
25
Integrated longitudinal and lateral guidance of vehicles in critical high speed manoeuvres
Hadi Sazgar, Shahram Azadi, Reza Kazemi, Ali Keymasi Khalaji
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS
2019
Full Text
Original Article
26
Control of a tractor-trailer robot subjected to wheel slip
Ali Keymasi Khalaji, Mostafa Jalalnezhad
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS
2019
Full Text
Original Article
27
PID-based target tracking control of a tractor-trailer mobile robot
Ali Keymasi Khalaji
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
2019
Full Text
Original Article
28
Adaptive nonlinear control of an autonomous underwater vehicle
Fahimeh S Tabataba’i-Nasab, Ali Keymasi Khalaji, Seyed Ali A Moosavian
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
2019
Full Text
Original Article
29
Modeling and control of uncertain multibody wheeled robots
Ali Keymasi Khalaji
MULTIBODY SYSTEM DYNAMICS
2019
Full Text
Original Article
30
Robust Adaptive Controller Design for an Autonomous Robot with Time-Varying Dynamics
Ali Keymasi Khalaji, Saeed Bahrami
Journal of Solid and Fluid Mechanics
2018
Full Text
Original Article
31
Potentially Directed Robust Control of an Underwater Robot in the Presence of Obstacles
Tabataba’i-Nasab Fahimeh Sadat, Moosavian Seyed Ali Akbar, Ali Keymasi Khalaji
MODARES MECHANICAL ENGINEERING
2018
Full Text
Original Article
32
Modified mathematical model for variable fill fluid coupling
Saeed Bahrami, Ali Keymasi Khalaji
Journal of Computational Applied Mechanics
2018
Full Text
Original Article
33
Control of a wheeled robot in presence of sliding of wheels using adaptive backstepping method
Ali Keymasi Khalaji, Mostafa Jalalnezhad
MODARES MECHANICAL ENGINEERING
2018
Full Text
Original Article
34
Formation control of a differential drive wheeled robot in trajectory tracking
Ali Keymasi Khalaji
MODARES MECHANICAL ENGINEERING
2017
Full Text
Original Article
35
Modeling and control of an underactuated tractor trailer wheeled mobile robot
Asghar Khanpoor, Ali Keymasi Khalaji, S. Ali A. Moosavian
ROBOTICA
2017
Full Text
Original Article
36
Dynamic modeling and tracking control of a car with n-trailers
Ali Keymasi Khalaji, S. Ali A. Moosavian
MULTIBODY SYSTEM DYNAMICS
2016
Full Text
Original Article
37
Stabilization of a tractor-trailer wheeled robot
Ali Keymasi Khalaji, S. Ali A. Moosavian
Journal of Mechanical Science and Technology
2016
Full Text
Original Article
38
Adaptive sliding mode control of a wheeled mobile robot towing a trailer
Ali Keymasi Khalaji, S. A. A. Moosavian
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
2015
Full Text
Original Article
39
Non-model-based control for a wheeled mobile robot towing two trailers
Ali Keymasi Khalaji, M. Rahimi Bidgoli, S. A. A. Moosavian
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS
2015
Full Text
Original Article
40
SWITCHING CONTROL OF A TRACTOR-TRAILER WHEELED ROBOT
Ali Keymasi Khalaji, S. Ali A. Moosavian
INTERNATIONAL JOURNAL OF ROBOTICS and AUTOMATION
2015
Full Text
Original Article
41
Modified transpose Jacobian control of a tractor-trailer wheeled robot
Ali Keymasi Khalaji, S. Ali A. Moosavian
Journal of Mechanical Science and Technology
2015
Full Text
Original Article
42
Trajectory tracking control of a wheeled mobile robot by a non-model-based control algorithm using PD-action filtered errors
Seyed Ali Akbar Moosavian, Mojtaba Rahimi bidgoli, Ali Keymasi khalaji
MODARES MECHANICAL ENGINEERING
2015
Full Text
Original Article
43
Dynamics and Control of a Wheeled Mobile Robot Attached by a Trailer with Passive Spherical Wheels
Asghar Khanpoor, Ali Keymasi Khalaji, Seyed Ali Akbar Moosavian *
MODARES MECHANICAL ENGINEERING
2015
Full Text
Original Article
44
Robust Adaptive Controller for a Tractor-Trailer Mobile Robot
Ali Keymasi Khalaji, S. Ali A. Moosavian
IEEE-ASME TRANSACTIONS ON MECHATRONICS
2014
Full Text
Original Article
45
Design and implementation of a fuzzy sliding mode control law for a wheeled robot towing a trailer
Ali Keymasi Khalaji, S. Ali A. Moosavian
MODARES MECHANICAL ENGINEERING
2014
Full Text
Original Article
46
Non-Model-Based Control Law for a Wheeled Robot Towing a Trailer
Ali Keymasi Khalaji, S. Ali A. Moosavian
Journal of Control
2013
Full Text
Original Article
Presented articles
#
Title
Writer
Conference
Date
Presentation type
1
Adaptive dynamic programming for kinematic control of 3 interconnected wheeled mobile robots
Aliakbar Ghasemzadeh, Roya Amjadifard, Ali Keymasi Khalaji
32th ICEE - Iran
1403/02/25
Oral
2
Simultaneous regulation and velocity tracking control of a two-wheeled self-balancing robot
Ghahremani Azadeh, Ali Keymasi Khalaji
IEEE International Conference on Control, Automation and Diagnosis (ICCAD23) - Italy
1402/02/20
Oral
3
Tracking Control of an Autonomous Underwater Vehicle: Higher-Order Sliding Mode Control Approach
Fahimeh S. Tabataba’i-Nasab, S. Ali A. Moosavian, Ali Keymasi Khalaji
International Conference on Robotics and Mechatronics - Iran
1398/08/28
Oral
4
Dynamic feedback linearizing controller for a wheeled vehicle
Ali Keymasi Khalaji, Mostafa Jalalnezhad
International Conference on Knowledge-Based Engineering and Innovation - Iran
1396/10/01
Oral
5
Modeling and backstepping control of a wheeled robot
Ali Keymasi Khalaji, Mostafa Jalalnezhad
International Conference on Knowledge-Based Engineering and Innovation - Iran
1396/10/01
Oral
6
Orientation control of a wheeled robot towing a trailer in backward motion
Ali Keymasi Khalaji, Abolfazl Yazdani
International Conference on Knowledge-Based Engineering and Innovation - Iran
1396/10/01
Oral
7
Tracking Control of an Underwater Robot in the Presence of Obstacles
SAA Moosavian, Ali Keymasi Khalaji, Fahimeh Tabataba’i-Nasab
5th RSI/ISM International Conference on Robotics and Mechatronics (ICRoM 2017) - Iran
1396/08/03
Oral
8
Implementing the Exhaust Gas Temperature Control Logic in Off-Design Calculations of Gas Turbine
Saeed Bahrami, Ali Keymasi Khalaji
International Conference on Mechanical Engineering - Iran
1396/02/12
Oral
9
Dynamics Modeling and Control of a Wheeled Mobile Robot with Omni-Directional Trailer
Asghar Khanpoor, Ali Keymasi Khalaji, S. Ali A. Moosavian
International conference on electrical engineering - Iran
1393/02/30
Oral
10
Tracking Control of Wheeled Mobile Robot with Two Trailers
S. Ali A. Moosavian, Mojtaba Rahimi Bidgoli, Ali Keymasi Khalaji
21th annual international conference on mechanical engineering - Iran
1392/02/17
Oral
11
Regulation of a Differential Driven Wheeled Robot Towing a Trailer
Ali Keymasi Khalaji, S. Ali A. Moosavian
RSI/ISM International Conference on Robotics and Mechatronics - Iran
1391/11/25
Oral
12
Modified Transpose Jacobian for Control of a Tractor-Trailer Wheeled Robot
S. Ali A. Moosavian, Ali Keymasi Khalaji
RSI/ISM International Conference on Robotics and Mechatronics - Iran
1391/11/25
Oral
13
Trajectory Tracking Control Law for a Tractor-Trailer Wheeled Mobile Robot
Ali Keymasi Khalaji, S. Ali A. Moosavian, Mojtaba Rahimi Bidgoli
RSI/ISM International Conference on Robotics and Mechatronics - Iran
1391/11/25
Oral