Farhad Mehdifar

KTH Royal Institute of Technology, University of Tabriz

Papers

Total Citations

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About

Farhad Mehdifar is a researcher whose work sits at the intersection of control theory, robotics, and optimization, with a particular focus on ensuring safety and performance in complex dynamical systems. His most impactful contribution, the 2022 paper "Funnel Control Under Hard and Soft Output Constraints" (16 citations), introduces a novel online funnel planning scheme that dynamically generates constraint-consistent funnels. This work is critical for applications where systems must respect strict safety limits while also striving for high performance, offering a principled way to balance these often competing objectives. Mehdifar has also made significant strides in space robotics, addressing the challenging problem of controlling free-floating manipulators subject to stochastic disturbances and unknown dynamics. His 2021 paper on this topic (7 citations) cleverly maps the free-floating system to a dynamically equivalent fixed-base manipulator, enabling the application of established adaptive control techniques. Earlier in his career, he demonstrated his versatility in optimization by developing a Modified Fruit Fly Optimization Algorithm (MFOA) for tuning PID controllers in robotic manipulators (2017, 4 citations). Through this body of work, Mehdifar has established himself as a researcher dedicated to solving real-world control problems where uncertainty, safety, and performance converge.