Papers
33
Total Citations
1,109
H-Index
19
About
Saleh Mobayen is a prominent control systems engineer whose research has profoundly advanced the fields of sliding mode control, nonholonomic systems, and robotic manipulation. His work centers on developing robust, finite-time control strategies capable of handling real-world uncertainties, external disturbances, and complex nonlinear dynamics. Mobayen's most celebrated contribution is his adaptive super-twisting global nonlinear sliding mode controller for n-link rigid robotic manipulators, which eliminates the problematic reaching phase from the initial time instant — a breakthrough that has garnered over 140 citations. Across a series of influential papers published between 2011 and 2022, he systematically addressed critical challenges in nonholonomic system control, including singularity avoidance, chattering reduction, and finite-time convergence, accumulating hundreds of citations collectively. His research progressed from foundational recursive fast terminal sliding mode frameworks to sophisticated adaptive barrier function controllers and disturbance observer-based techniques, with several studies validated through physical experiments. His 2021 works on underactuated robotic systems and disturbed manipulators reflect his commitment to experimentally grounded, practically deployable solutions. More recently, his optimized fuzzy-enhanced Stewart robot controller demonstrates his expanding interest in intelligent hybrid control architectures. Mobayen's body of work represents essential reading for researchers tackling robust control of uncertain dynamical systems.
Research Focus
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- 10Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot41 citations · 2022