Soheil Ahangarian Abhari
Papers
2
Total Citations
23
H-Index
2
About
Soheil Ahangarian Abhari is a researcher specializing in advanced nonlinear control systems, with a primary focus on robotics and mechatronics. His work addresses the critical challenge of compensating for mechanical imperfections, particularly backlash nonlinearity in gears, which degrades precision and stability in robot manipulators. His most influential contribution, the 2018 paper "An adaptive robust control scheme for robot manipulators with unknown backlash nonlinearity in gears," has garnered 21 citations, establishing a foundation for adaptive robust control algorithms that integrate nonlinear dead-zone models with serial manipulator dynamics. This work is notable for its practical approach to handling unknown gear backlash, offering a robust solution that enhances trajectory tracking and disturbance rejection without requiring exact system knowledge. A related study, "Control of Robot Manipulators with a Model for Backlash Nonlinearity in Gears," further explores model-based compensation strategies. Ahangarian Abhari’s research is highly relevant for engineers developing high-precision robotic systems, and his adaptive control framework continues to influence the design of resilient, real-world manipulators operating under uncertain mechanical conditions.
Research Focus
Key Achievements
Top Papers
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