Vahid J. Majd received his B.Sc. degree in 1989 from the electrical engineering department of the University of Tehran, Iran. He then received his M.Sc. and Ph.D. degrees in the area of Control Theory from the electrical engineering department of the University of Pittsburgh, PA, U.S.A. in 1991 and 1995, respectively. He is currently an associate professor in the control system department of Tarbiat Modares University, Tehran, Iran, and is the director of intelligent control systems laboratory. His areas of interest include: Intelligent identification and control, reinforcement learning, deep learning, ingestible capsule robots, soft robots, neuro-fuzzy control, multi-agent learning, cooperative control, formation control.
EDUCATION
Ph.D., Electrical Engineering, University of Pittsburgh, Pittsburgh, PA, USA, 1995.
Formation tracking control of fractional-order multi-agent systems with fixed-time convergence Hossein Zamani, Vahid Johari Majd, Khosro Khandani Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering, 2022 In this article, the fixed-time formation problem in fractional-order multi-agent systems is addressed. By using the Reimann–Liouville fractional derivative, the memory effects are considered in the dynamics of agents. The goal is to design distributed controllers for such agents of fractional order to achieve formation with a fixed-time convergence rate. To solve this problem, a fractional-order control protocol with a neighborhood-based error variable is proposed. By using the fixed-time Lyapunov stability theorem, it has been theoretically shown that the fixed-time formation tracking can be achieved within a certain settling time, and the upper bound of the settling time has been obtained explicitly. The proposed upper bound does not depend on the initial conditions. Finally, several simulations are worked out to verify the theoretical results. The superiority of the proposed method over finite-time protocols has been illustrated.
Design and implementation of a 3D positioning and control capsule robot using magnetic waves Hamidreza MahmoodZadeh, Vahid Johari Majd, Abbas Ehsani-Seresht 2022 8th International Conference on Control Instrumentation and Automation Iccia 2022, 2022 Capsule endoscopy robots have been used to detect digestive diseases in recent years. This paper explores the design and implementation of capsule robot localization and control systems using magnetic waves. The built system includes five external electromagnetic coils, and a permanent magnet added to the inactive capsule robot, which is available on the market. The instantaneous position of the robot is calculated through image processing. Moreover, The speed of the robot and the coil's current is measured using the rate of the position and the current sensor. A sliding mode controller is designed for 3D motion of the robot in the digestive system test environment in the lab. Our results show the suitable performance of the robot in tracking the desired position.
Dynamic-free robust adaptive intelligent fault-tolerant controller design with prescribed performance for stable motion of quadruped robots Yousef Farid, Vahid Johari Majd, Abbas Ehsani-Seresht Adaptive Behavior, 2021 In this article, a robust adaptive intelligent fault-tolerant controller with prescribed performance is proposed for an uncertain quadruped robot with actuator fault. The control system comprised of three terms: (1) a full-state feedback controller which includes the prescribed performance function, (2) an adaptive intelligent wavelet-based Takagi-Sugeno fuzzy network (TSFN), and (3) a robust control term. The proposed controller does not utilize the robot dynamic model. A wavelet-based TSFN is utilized to approximate adaptively the lumped nonlinear terms, parameter uncertainties, and defective torque signal. The wavelet block acts as a feature extractor, reduces the number of fuzzy rules, and also acts as a normalization function. The parameters of TSFN are tuned online by an adaptive law based on Lyapunov stability theory. The proposed controller guarantees the desired specification such as minimum speed of convergence, maximum steady-state error, overshoot concerning the position tracking error, and also bounded closed-loop signals. Numerical simulations on MATLAB/SimMechanics environment demonstrate the stable walking of the quadruped robot in the presence of the actuator faults and parameter uncertainties.
An H∞non-fragile observer-based adaptive sliding mode controller design for uncertain fractional-order nonlinear systems with time delay and input nonlinearity Majid Parvizian, Khosro Khandani, Vahid Johari Majd Asian Journal of Control, 2021 In this paper the problem of non‐fragile adaptive sliding mode observer design is addressed for a class of nonlinear fractional‐order time‐delay systems with uncertainties, external disturbance, exogenous noise, and input nonlinearity. An H∞ observer‐based adaptive sliding mode control considering the non‐fragility of the observer is proposed for this system. The sufficient asymptotic stability conditions are derived in the form of linear matrix inequalities. It is proven that the sliding surface is reachable in finite time. An illustrative example is provided which corroborates the effectiveness of the theoretical results.
Distance Estimation for Endoscopy Based on Depth Detection in the Small Intestine Using Image Processing techniques Majid Ramedani, Vahid J. Majd 6th Iranian Conference on Signal Processing and Intelligent Systems Icspis 2020, 2020 In recent years, three-dimensional measurement techniques have been widely used in medical sciences, and thus, depth detection in an image plays an important role in computer vision applications. In this paper, we discuss the estimation of the distance between the head of an endoscope and the small intestine septum and its problems. The main objective is to detect the depth of the small intestine to estimate distance. Images were collected through video sampling, and then the data are preprocessed. Morphological reconstruction, bounding box, Convex Hull, and Euclidean distance are employed to update the mentioned distance. At the end of this process, the outputs are simulated, and we are given the output distance in centimeters. This method will assist the endoscope to move inside the small intestine without injuries.
A robust finite-time fault-tolerant formation control of stochastic multi-agent systems in the mean-square sense Mahdi Siavash, Vahid Johari Majd 2020 28th Iranian Conference on Electrical Engineering Icee 2020, 2020 This study discusses a robust distributed finite-time formation control of the stochastic Lipchitz multi-agent systems within the actuator fault. Furthermore, the orientation of formation is often adjusted in step with the leader's orientation. The agents are modeled as stochastic nonlinear systems either thanks to their intrinsic behavior or working in a very random vibrating environment. Additionally, biased and effectiveness faults are considered. To cater to these, employing a distributed sliding-mode approach and the infinitesimal operation, a robust finite-time fault-tolerant controller is presented in mean-square sense. Finally, a multi-aircraft model under stochastic wind is used to validate the effectiveness of the offered control law.
Non-fragile exponential polynomial observer design for a class of nonlinear fractional-order systems with application in chaotic communication and synchronisation Alamdar Hafezi, Khosro Khandani, Vahid Johari Majd International Journal of Systems Science, 2020 This paper addresses the design of a non-fragile exponential polynomial observer for a class of fractional-order nonlinear systems. Existence of the observer is proven and a sufficient condition for the stability of the state estimation error dynamics with a predetermined exponential convergence rate is derived employing the Lyapunov stability theorem. The exponential stability criterion is proposed in the form of linear matrix inequalities (LMIs). Moreover, some numerical examples have been provided to illustrate the effectiveness of the proposed approach. The synchronisation of fractional-order Lorenz systems has been investigated using the proposed method. Then, the proposed method has been applied to the chaotic communication problem of fractional-order chaotic systems with four scroll attractors.
A non-fragile observer-based adaptive sliding mode control for fractional-order Markovian jump systems with time delay and input nonlinearity Majid Parvizian, Khosro Khandani, Vahid Johari Majd Transactions of the Institute of Measurement and Control, 2020 In this paper, state estimation and adaptive sliding mode control (SMC) of uncertain fractional-order Markovian jump systems (FO-MJSs) with time delay and input nonlinearity are considered. A non-fragile observer is proposed to estimate the system states, and an observer-based adaptive sliding mode controller is synthesized to ensure the reachability of the sliding surfaces in the state-estimation space in finite time. The sufficient condition for stochastic stability of the error system and sliding mode dynamics is derived in the form of linear matrix inequalities (LMIs). Finally, some numerical examples are presented to illustrate the effectiveness of the proposed method.
A dissipative integral sliding mode control redesign method for uncertain nonlinear switched systems Iranian Journal of Electrical and Electronic Engineering, 2015
Input-to-state stability in congestion control problem of computer networks with nonlinear links International Journal of Innovative Computing Information and Control, 2009
Electrical distribution networks state estimation IEE Conference Publication, 2005
Robust state tracking of nonlinear systems on sliding surface using neural network 2004 5th Asian Control Conference, 2004
A nonlinear signal processing approach to model heart rate variability Proceedings of the Fourth IEEE International Symposium on Signal Processing and Information Technology Isspit 2004, 2004
A new nonlinear model for generating RR tachograms Computers in Cardiology, 2004
Continuous friction model for servo systems with stiction IEEE Conference on Control Applications Proceedings, 1995
Approximate time optimal control of DC servos with unknown load and non-linear friction torque Optimal Control Applications and Methods, 1995
RECENT SCHOLAR PUBLICATIONS
Fixed-Time Containment Tracking Control of Fractional-Order Multi-Vehicle Systems with Multiple Leaders: SMC approach H Zamani, V Johari Majd, K Khandani International Journal of Research and Technology in Electrical Industry 4 (1 … , 2025 2025
Fixed-time sliding-mode distributed consensus and formation control of disturbed fractional-order multi-agent systems H Zamani, K Khandani, VJ Majd ISA transactions 138, 37-48 , 2023 2023 Citations: 50
Fixed-Time Consensus of Fractional-Order Single Integrator Multi-Agent Systems H Zamani, K Khandani Nashriyyah-i Muhandisi-i Barq va Muhandisi-i Kampyutar-i Iran 101 (1), 24 , 2023 2023
Formation tracking control of fractional-order multi-agent systems with fixed-time convergence H Zamani, V Johari Majd, K Khandani Proceedings of the Institution of Mechanical Engineers, Part I: Journal of … , 2022 2022 Citations: 15
Design and implementation of a 3D positioning and control capsule robot using magnetic waves H MahmoodZadeh, VJ Majd, A Ehsani-Seresht 2022 8th International Conference on Control, Instrumentation and Automation … , 2022 2022
Non-Fragile Adaptive Sliding-Mode Observer Design for a Class of Fractional-Order Pseudo-Linear Systems with State Delay M Parvizian, K Khandani, MV JOHARI NASHRIYYAH-I MUHANDISI-I BARQ VA MUHANDISI-I KAMPYUTAR-I IRAN, A-MUHANDISI-I … , 2022 2022
Dynamic-free robust adaptive intelligent fault-tolerant controller design with prescribed performance for stable motion of quadruped robots Y Farid, VJ Majd, A Ehsani-Seresht Adaptive Behavior 29 (3), 233-252 , 2021 2021 Citations: 13
An H ∞ non‐fragile observer‐based adaptive sliding mode controller design for uncertain fractional‐order nonlinear systems with time delay and input nonlinearity M Parvizian, K Khandani, VJ Majd Asian Journal of Control 23 (1), 423-431 , 2021 2021 Citations: 28
Distance Estimation for Endoscopy Based on Depth Detection in the Small Intestine Using Image Processing techniques M Ramedani, VJ Majd 2020 6th Iranian Conference on Signal Processing and Intelligent Systems … , 2020 2020
Sliding-Mode tracking control of a walking quadruped robot with a push recovery algorithm using a nonlinear disturbance observer as a virtual force sensor N Dini, VJ Majd Iranian Journal of Science and Technology, Transactions of Electrical … , 2020 2020 Citations: 12
A Robust Finite-time Fault-tolerant Formation Control of Stochastic Multi-agent Systems in the Mean-Square Sense M Siavash, VJ Majd 2020 28th Iranian Conference on Electrical Engineering (ICEE), 1-5 , 2020 2020 Citations: 3
Non-fragile exponential polynomial observer design for a class of nonlinear fractional-order systems with application in chaotic communication and synchronisation A Hafezi, K Khandani, VJ Majd International Journal of Systems Science 51 (8), 1353-1372 , 2020 2020 Citations: 9
Fault-tolerant formation control of stochastic nonlinear multi-agent systems with time-varying weighted topology M Siavash, VJ Majd, M Tahmasebi Transactions of the Institute of Measurement and Control 42 (8), 1461-1474 , 2020 2020 Citations: 21
A non-fragile observer-based adaptive sliding mode control for fractional-order Markovian jump systems with time delay and input nonlinearity M Parvizian, K Khandani, VJ Majd Transactions of the Institute of Measurement and Control 42 (8), 1448-1460 , 2020 2020 Citations: 14
An MPC-based two-dimensional push recovery of a quadruped robot in trotting gait using its reduced virtual model N Dini, VJ Majd Mechanism and Machine Theory 146, 103737 , 2020 2020 Citations: 54
Switching fuzzy modelling and control scheme using TS fuzzy systems with nonlinear consequent parts MJ Koopaee, VJ Majd Iranian Journal of Fuzzy Systems 17 (2), 49-65 , 2020 2020 Citations: 1
A practical finite-time back-stepping sliding-mode formation controller design for stochastic nonlinear multi-agent systems with time-varying weighted topology M Siavash, VJ Majd, M Tahmasebi International Journal of Systems Science 51 (3), 488-506 , 2020 2020 Citations: 12
Robust control of uncertain nonlinear switched systems: a dissipativity-based integral sliding mode control redesign approach B Shahriari, VJ Majd, H Moradi Shahrebabaki Iranian Journal of Science and Technology, Transactions of Electrical … , 2019 2019 Citations: 4
Cooperative fusion for distributed estimation of target position in heterogeneous networks with communication delays M Moattari, VJ Majd Iranian Journal of Science and Technology, Transactions of Electrical … , 2019 2019 Citations: 1
Finite-time consensus control of Euler-Lagrange multi-agent systems in the presence of stochastic disturbances and actuator faults M Siavash, V Majd, M Tahmasebi Journal of Electrical and Computer Engineering Innovations (JECEI) 7 (2 … , 2019 2019 Citations: 4
MOST CITED SCHOLAR PUBLICATIONS
Optimal real time pricing in an agent-based retail market using a comprehensive demand response model S Yousefi, MP Moghaddam, VJ Majd Energy 36 (9), 5716-5727 , 2011 2011 Citations: 247
Solution existence for non-autonomous variable-order fractional differential equations A Razminia, AF Dizaji, VJ Majd Mathematical and Computer Modelling 55 (3-4), 1106-1117 , 2012 2012 Citations: 138
Application of fuzzy inference system for prediction of rock fragmentation induced by blasting S Shams, M Monjezi, VJ Majd, DJ Armaghani Arabian Journal of Geosciences 8 (12), 10819-10832 , 2015 2015 Citations: 129
A robust H∞ observer-based controller design for uncertain T–S fuzzy systems with unknown premise variables via LMI MH Asemani, VJ Majd Fuzzy Sets and Systems 212, 21-40 , 2013 2013 Citations: 123
Aquifer vulnerability assessment using GIS and fuzzy system: a case study in Tehran–Karaj aquifer, Iran K Mohammadi, R Niknam, VJ Majd Environmental geology 58 (2), 437-446 , 2009 2009 Citations: 119
A Robust Non-PDC Design Scheme for Singularly Perturbed T–S Fuzzy Systems With Immeasurable State Variables MH Asemani, VJ Majd IEEE Transactions on Fuzzy Systems 23 (3), 525-541 , 2014 2014 Citations: 108
Chaotic incommensurate fractional order Rössler system: active control and synchronization A Razminia, VJ Majd, D Baleanu Advances in Difference Equations 2011 (1), 15 , 2011 2011 Citations: 93
Sliding mode control for uncertain new chaotic dynamical system S Dadras, HR Momeni, VJ Majd Chaos, Solitons & Fractals 41 (4), 1857-1862 , 2009 2009 Citations: 89
A modified Zeeman model for producing HRV signals and its application to ECG signal generation N Jafarnia-Dabanloo, DC McLernon, H Zhang, A Ayatollahi, ... Journal of theoretical biology 244 (2), 180-189 , 2007 2007 Citations: 89
An LMI-based composite nonlinear feedback terminal sliding-mode controller design for disturbed MIMO systems S Mobayen, VJ Majd, M Sojoodi Mathematics and Computers in Simulation 85, 1-10 , 2012 2012 Citations: 83
A finite-time tracker for nonholonomic systems using recursive singularity-free FTSM S Mobayen, MJ Yazdanpanah, VJ Majd Proceedings of the 2011 American Control Conference, 1720-1725 , 2011 2011 Citations: 81
Robust tracking control method based on composite nonlinear feedback technique for linear systems with time-varying uncertain parameters and disturbances S Mobayen, VJ Majd Nonlinear Dynamics 70 (1), 171-180 , 2012 2012 Citations: 73
An ISM-based CNF tracking controller design for uncertain MIMO linear systems with multiple time-delays and external disturbances VJ Majd, S Mobayen Nonlinear Dynamics 80 (1), 591-613 , 2015 2015 Citations: 61
Fuzzy Sarsa learning and the proof of existence of its stationary points V Derhami, VJ Majd, MN Ahmadabadi Asian Journal of Control 10 (5), 535-549 , 2008 2008 Citations: 60
An MPC-based two-dimensional push recovery of a quadruped robot in trotting gait using its reduced virtual model N Dini, VJ Majd Mechanism and Machine Theory 146, 103737 , 2020 2020 Citations: 54
Fractional-order active fault-tolerant force-position controller design for the legged robots using saturated actuator with unknown bias and gain degradation Y Farid, VJ Majd, A Ehsani-Seresht Mechanical Systems and Signal Processing 104, 465-486 , 2018 2018 Citations: 51
Fixed-time sliding-mode distributed consensus and formation control of disturbed fractional-order multi-agent systems H Zamani, K Khandani, VJ Majd ISA transactions 138, 37-48 , 2023 2023 Citations: 50
Robust stabilization of uncertain time-delay systems with fractional stochastic noise using the novel fractional stochastic sliding approach and its application to stream water … K Khandani, VJ Majd, M Tahmasebi IEEE Transactions on Automatic Control 62 (4), 1742-1751 , 2016 2016 Citations: 48
Integral sliding mode control for robust stabilisation of uncertain stochastic time-delay systems driven by fractional Brownian motion K Khandani, VJ Majd, M Tahmasebi International Journal of Systems Science 48 (4), 828-837 , 2017 2017 Citations: 47
A nonlinear adaptive resilient observer design for a class of Lipschitz systems using LMI M Pourgholi, VJ Majd Circuits, Systems, and Signal Processing 30 (6), 1401-1415 , 2011 2011 Citations: 47
