publications

Showing 2 of 2 publications

2026

1. arXiv

   Residual Deep Reinforcement Learning-Based Computed Torque Control for a Cable-Driven Lower-Limb Rehabilitation Robot under Disturbances and Parametric Uncertainties

   Mohammad-Hossein Fakouri, Ali Keymasi-Khalajiⓘ

   arXiv preprint; under review at Expert Systems with Applications, 2026 · arXiv:2608.26739

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   This manuscript presents a simulation-based control framework for a planar three-DOF cable-driven lower-limb rehabilitation robot. A computed torque controller provides the model-based baseline, while a bounded residual DDPG policy compensates for tracking errors caused by disturbances and parametric uncertainties. Representative combined-case results show an approximately 42 percent reduction in RMS Cartesian tracking error compared with the baseline controller.

   @article{fakouri2026rehabrobot,
     title = {Residual Deep Reinforcement Learning-Based Computed Torque Control for a Cable-Driven Lower-Limb Rehabilitation Robot under Disturbances and Parametric Uncertainties},
     author = {Fakouri, Mohammad-Hossein and Keymasi-Khalaji, Ali},
     journal = {arXiv preprint; under review at Expert Systems with Applications},
     year = {2026},
     arxiv = {2608.26739}
   }

2. Pre-submission

   Friction-Aware Linear MPC with Lateral-Slip Constraint Back-Off for Vehicle Stability and Path Following

   Mohammad-Hossein Fakouri, Mohsen Ghaffariⓘ

   Journal-neutral master manuscript complete; pre-submission metadata and target-journal formatting remaining, 2026

   AbsBibDetails

   This simulation-based study evaluates a friction-aware linear model predictive controller for vehicle path following and stability under reduced tire-force capacity. The final controller combines a capacity-aware prediction model with a fixed 4.4 degree internal lateral-slip back-off, and is evaluated against fixed-MPC and no-ESC baselines under reduced-capacity, parameter-mismatch, and high-speed stress-test scenarios.

   @article{fakouri2026frictionmpc,
     title = {Friction-Aware Linear MPC with Lateral-Slip Constraint Back-Off for Vehicle Stability and Path Following},
     author = {Fakouri, Mohammad-Hossein and Ghaffari, Mohsen},
     journal = {Journal-neutral master manuscript complete; pre-submission metadata and target-journal formatting remaining},
     year = {2026}
   }