Mohammad Reza Jafari Harandi
jafariharandi@qut.ac.ir
Education
Faculty Member
Qom University of Technology, Qom, Iran 2025–Present
• Department of Electrical Engineering
Postdoctoral Researcher
Sharif University of Technology, Tehran, Iran 2024–2025
• Supported by the Iranian National Science Foundation (INSF)
Senior Researcher in ARAS Lab
K. N. Toosi University of Technology, Tehran, Iran 2021–2024
• Supervisor: Prof. Hamid D. Taghirad
Doctor of Philosophy in Electrical Engineering
K. N. Toosi University of Technology, Tehran, Iran 2016–2021
• Ph.D. Thesis: Passivity Based Control of 3-DOF Underactuated Suspended Cable-Driven Robots
• Supervisor: Prof. Hamid D. Taghirad
• Advisor: Prof. Mehrzad Namvar
Master of Science in Electrical Engineering
Sharif University of Technology, Tehran, Iran 2014–2016
• M.Sc. Thesis: Design of Nonsmooth Controller for Mechanical Systems under Nonholonomic Constraint
• Supervisor: Prof. Mehrzad Namvar
Bachelor of Science in Electrical Engineering
Sharif University of Technology, Tehran, Iran 2010–2014
• B.Sc. Thesis: Stabilization of Nonlinear Lipschitz Systems on Noisy Digital Communication Channels
• Supervisor: Prof. Alireza Farhadi
Publications
Journal Articles
1. M. Reza J. Harandi, and Mehrzad Namvar, “Reduction of Velocity-Dependent Terms in Total Energy Shaping for Underactuated Mechanical Systems,” IEEE Transactions on Industrial Informatics, 2026. doi:10.1109/TII.2026.3698003
2. M. Reza J. Harandi, and Mehrzad Namvar, “Robust Energy Shaping Control of an Underactuated Inverted Pendulum,” IEEE Access, 2026. doi:10.1109/ACCESS.2026.3688847
3. M. Jafari, Mohammad Tavakoli Bina, M. Aliakbar Golkar, M. Reza J. Harandi and Mohammadreza Toulabi, “Inertial Frequency Response of Wind Turbines Using Adaptive Full Feedback Linearization Control: Stability and Robustness Analysis,” IEEE Transactions on Sustainable Energy, 2024. doi:10.1109/TSTE.2024.3443230
4. M. Reza J. Harandi and Hamid D. Taghirad, “Stabilization of a Class of Underactuated Parallel Robots via Energy Shaping: Application to Cable Driven Manipulators,” Automatica, 2023. doi:10.1016/j.automatica.2023.111201
5. M. Reza J. Harandi and Hamid D. Taghirad, “Reformulation of Matching Equation in Potential Energy Shaping,” IEEE Transactions on Automatic Control, 2023. doi:10.1109/TAC.2023.3293719
6. M. Reza J. Harandi, M. Namvar, and Hamid D. Taghirad, “Stabilization of Robots With Actuator Constraints via Interconnection and Damping Assignment,” IEEE Transactions on Control Systems Technology, 2023. doi:10.1109/TCST.2023.3273902
7. M. Reza J. Harandi, A. Hassani, M. I. Hosseini, and Hamid D. Taghirad, “Adaptive Position Feedback Control of Parallel Robots in the Presence of Kinematics and Dynamics Uncertainties,” IEEE Transactions on Automation Science and Engineering, 2023. doi:10.1109/TASE.2023.3235895
8. M. Reza J. Harandi, “Comments on Novel Adaptive Impedance Control for Exoskeleton Robot for Rehabilitation Using a Nonlinear Time-Delay Disturbance Observer,” ISA Transactions, 2022. doi:10.1016/j.isatra.2022.11.022
9. M. Reza J. Harandi, S. Ahmad Khalilpour, and Hamid D. Taghirad, “Adaptive Energy Shaping Control of a 3-DOF Underactuated Cable-Driven Parallel Robot,” IEEE Transactions on Industrial Informatics, 2022. doi:10.1109/TII.2022.3211980
10. M. Reza J. Harandi, A. Hassani, S. Khalilpour, and H. D. Taghirad, “Practical adaptive position feedback regulator for parallel robots with bounded inputs,” Journal of Vibration and Control, April 2022. doi:10.1177/10775463221083361.
11. M. Reza J. Harandi and H. D. Taghirad, “On the matching equations of kinetic energy shaping in IDA-PBC,” Journal of the Franklin Institute, vol. 358, no. 16, pp. 8639–8655, 2021. doi:10.1016/j.jfranklin.2021.08.034.
12. M. Reza J. Harandi and H. D. Taghirad, “Adaptive interconnection and damping assignment passivity-based control for an underactuated cable-driven robot,” International Journal of Adaptive Control and Signal Processing, vol. 35, no. 12, pp. 2487–2498, 2021. doi:10.1002/acs.3332.
13. M. Reza J. Harandi and H. D. Taghirad, “Solution of matching equations of IDA-PBC by Pfaffian differential equations,” International Journal of Control, pp. 1–11, 2021. doi:10.1080/00207179.2021.1972345.
14. M. Reza J. Harandi, H. D. Taghirad, A. Molaei, and J. G. Romero, “Bounded inputs total energy shaping for a class of underactuated mechanical systems,” International Journal of Robust and Nonlinear Control, vol. 31, no. 18, pp. 9267–9281, 2021. doi:10.1002/rnc.5765.
15. M. Reza J. Harandi, S. A. Khalilpour, and H. D. Taghirad, “Adaptive dynamic feedback control of parallel robots with unknown kinematic and dynamic properties,” ISA Transactions, 2021. doi:10.1016/j.isatra.2021.08.026.
16. M. Reza J. Harandi, S. A. Khalilpour, H. D. Taghirad, and J. G. Romero, “Adaptive control of parallel robots with uncertain kinematics and dynamics,” Mechanical Systems and Signal Processing, vol. 157, p. 107693, 2021. doi:10.1016/j.ymssp.2021.107693.
17. M. Isaac Hosseini, M. Reza J. Harandi, S. A. Khalilpour Seyedi, and H. Taghirad, “Experimental performance of adaptive fast terminal sliding mode control on a suspended cable robot,” Journal of Electrical and Computer Engineering Innovations (JECEI), vol. 7, no. 1, pp. 59–67, 2018. doi:10.22061/JECEI.2019.5669.244.
Conference Articles
1. M. Reza J. Harandi, Amir Molaei, and Hamid D. Taghirad, “Regulation Control of a Suspended Cable-Driven Robot via Energy Shaping,” Proceedings of the 60th IEEE Conference on Decision and Control (CDC), 2021. doi:10.1109/CDC45484.2021.9683022
2. M. Reza J. Harandi, S. Ahmad Khalilpour, and Hamid D. Taghirad, “Robust IDA-PBC for a Spatial Underactuated Cable Driven Robot with Bounded Inputs,” Proceedings of the 29th Iranian Conference on Electrical Engineering (ICEE), 2021. doi:10.1109/ICEE52715.2021.9544237
3. M. Reza J. Harandi, S. A. Khalilpour, Hamed Damirchi, and Hamid D. Taghirad, “Stabilization of Cable Driven Robots Using Interconnection Matrix: Ensuring Positive Tension,” Proceedings of the 7th International Conference on Robotics and Mechatronics (ICRoM), 2019. doi:10.1109/ICRoM48714.2019.9071797
4. M. Reza J. Harandi, Hamed Damirchi, and Hamid D. Taghirad, “Point-to-Point Motion Control of an Underactuated Planar Cable Driven Robot,” Proceedings of the 27th Iranian Conference on Electrical Engineering (ICEE), 2019. doi:10.1109/IranianCEE.2019.8786746
5. M. Reza J. Harandi, and Hamid D. Taghirad, “Motion Control of an Underactuated Parallel Robot with First Order Nonholonomic Constraint,” Proceedings of the 5th RSI International Conference on Robotics and Mechatronics (ICRoM), 2017. doi:10.1109/ICRoM.2017.8466189
6. Mohammad Isaac Hosseini, M. Reza J. Harandi, S. Ahmad Khalilpour, and Hamid Taghirad, “Adaptive Fast Terminal Sliding Mode Control of a Suspended Cable-Driven Robot,” Proceedings of the 27th Iranian Conference on Electrical Engineering (ICEE), 2019. doi:10.1109/IranianCEE.2019.8786501
7. S. A. Khalilpour, R. Khorrambakht, M. Reza J. Harandi, Hamid D. Taghirad, and Philippe Cardou, “Cascade Terminal Sliding Mode Control of a Deployable Cable Driven Robot,” Proceedings of the 6th International Conference on Control, Instrumentation and Automation (ICCIA), 2019. doi:10.1109/ICCIA49288.2019.9030886
8. S. A. Khalilpour, R. Khorrambakht, M. Reza J. Harandi, Hamid D. Taghirad, and Philippe Cardou, “Robust Dynamic Sliding Mode Control of a Deployable Cable Driven Robot,” Proceedings of the 26th Iranian Conference on Electrical Engineering (ICEE), 2018. doi:10.1109/ICEE.2018.8472612
Research Interests
• Stabilization of underactuated mechanical systems via Interconnection and Damping Assignment Passivity-Based Control (IDA–PBC)
• Adaptive control of robotic manipulators
• Stabilization and trajectory tracking of parallel, cable-driven, and nonholonomic robotic systems
• Control of robotic systems with input constraints
• Control of power systems and electrical generators