Ali Reza Salehi

Work place: Institute of Advance Science and Technology, Intelligent control and Robotics Lab. IRAN SSP, Shiraz/Iran



Research Interests: Artificial Intelligence, Robotics, Process Control System


Alireza Salehi is currently working as a primary researcher in the laboratory of Control and Robotic, Institute of Advance Science and Technology, IRAN SSP research and development Center. His current research interests are in the area of nonlinear control, artificial control system and robotics.

Author Articles
Design Intelligent Robust Back stepping Controller

By Zahra Esmaieli Farzin Piltan Meysam Kazeminasab Ali Reza Salehi Mahdi Mirshekaran

DOI:, Pub. Date: 8 Jan. 2014

The increasing demand for multi-degree-of-freedom (DOF) continuum robot in presence of highly nonlinear dynamic parameters in a number of industries has motivated a flurry of research in the development of soft computing nonlinear methodology. The robust backstopping controller proposed in this research is used to further demonstrate the appealing features exhibited by the continuum robot. Robust feedback controller is used to position control of continuum robot in presence of uncertainties. Using Lyapunov type stability arguments, a robust backstopping controller is designed to achieve this objective. The controller developed in this research is designed into two steps. Firstly, a robust stabilizing torque is designed for the nominal continuum robot dynamics derived using the constrained Lagrangian formulation based on modified PD backstopping controller. Next, the fuzzy logic methodology applied to it to solution uncertainty problem. The fuzzy model free problem is formulated to estimate the nonlinear formulation of continuum robot. The eventual stability of the controller depends on the torque generating capabilities of the continuum robots.

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Design Parallel Fuzzy Partly Inverse Dynamic Method plus Gravity Control for Highly Nonlinear Continuum Robot

By Meysam Kazeminasab Farzin Piltan Zahra Esmaeili Mahdi Mirshekaran Ali Reza Salehi

DOI:, Pub. Date: 8 Dec. 2013

Refer to this research, a position parallel error-based fuzzy inverse dynamic plus gravity controller is proposed for continuum robot manipulator. The main problem of the pure inverse dynamic controller was equivalent dynamic formulation in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using fuzzy logic theory. To estimate the continuum robot manipulator system’s dynamic, 49 rules Mamdani inference system is design and applied to inverse dynamic plus gravity methodology. This methodology is based on applied fuzzy logic in equivalent nonlinear dynamic part to estimate unknown parameters. The results demonstrate that the error-based parallel fuzzy inverse dynamic plus gravity controller is a partly model-free controllers which works well in certain and partly uncertain system.

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