hanie-marufkhani

Hanie Marufkhani

PhD Candidate

Hanie Marufkhani received the B.Sc. degree in electrical engineering from the Shariaty Technical and Professional College, Tehran, Iran, in 2018 and the M.Sc. degree in electrical engineering from the Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran, in 2020. She is currently a Ph.D. candidate at the Amirkabir University of Technology (Tehran Polytechnic), where she is also a member of the Interactive Robotics (IR) Laboratory, the Robotics and Servo Systems Laboratory, and the Cooperative Multi-Vehicle Systems (CMVS) Laboratory. Her current research interests include various aspects of dynamics modeling and nonlinear control of robots.

Interests: Robotics; Continuum Soft Robotics; Nonlinear Control; Shared Interactive Control.

Academic Background:

  • BSc, Supervisor: Dr. Iman Sharif, Thesis title: “Design and Implementation of a Nonlinear Teleoperation System for Deployment on a Rehabilitation Robot”.

  • MSc, Supervisor: Dr. Mohammad A. Khosravi, Thesis title: “Control of Fully-Constrained Cable-Driven Parallel Robots Based on SDRE”.

  • PhD, Supervisor: Dr. Mohammad A. Khosravi, Dr, Farzaneh Abdollahi, Advisor: Dr. Mohammad Zareinejad, Thesis title: “Shared Model-based Control of Soft Robots Interacting with the Environment”.

Extra Information:

Journal Papers:

  • Marufkhani, Hanie, et al. “Enhanced maneuverability in small-scale soft robot: a shared control framework with model-based sub-controllers derived from parallel robot dynamics.” Nonlinear Dynamics 113.22 (2025): 31495-31527.

  • Gholipour, Alireza, Hanie Marufkhani, and Mohammad A. Khosravi. “Enhanced constrained optimal sliding mode control for cable-driven parallel robots.” European Journal of Control (2025): 101282.

  • Marufkhani, Hanie, and Mohammad A. Khosravi. “Constrained Control of Fully-Constrained Cable-Driven Parallel Robots with Elastic Cables: An Optimal Robust Approach.” IEEE Access (2025).

  • Marufkhani, Hanie, and Mohammad A. Khosravi. “Robust optimal constrained control of fully-constrained cable-driven parallel robots based on gsdre.” Nonlinear Dynamics 111.17 (2023): 16159-16174.

Conference Papers:

  • Marufkhani, Hanie, Alireza Gholipour, and Mohammad A. Khosravi. “Detection and Estimation of Fault on Planar Cable-Driven Parallel Robot: SDRE Approach.” 2023 9th International Conference on Control, Instrumentation and Automation (ICCIA). IEEE, 2023.

  • Majdi, Yasna, Hanie Marufkhani, and Mohammad A. Khosravi. “Active Sliding Mode Fault Tolerant Control of a Fully-Constrained Planar Cable-Driven Parallel Robot.” 2023 11th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2023.

  • Nezhad, Tara Rajabi, Hanie Marufkhani, and Mohammad A. Khosravi. “Sliding Mode Control for a Platoon of Vehicular with DoS Attacks and Obstacles.” 2023 31st International Conference on Electrical Engineering (ICEE). IEEE, 2023.

  • Gholipour, Alireza, et al. “Robust optimal control of cable-driven parallel robots with moving average fading memory kalman filter observer.” 2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2022.

  • Marufkhani, Hanie, and Mohammad A. Khosravi. “Constrained optimal control of cable-driven parallel robots based on sdre.” International Conference on Cable-Driven Parallel Robots. Cham: Springer International Publishing, 2021.

  • Marufkhani, Hanie, Negar Doustmohammadi, and Iman Sharifi. “Adaptive Robust Task-Space Control of Bilateral Teleoperation Systems with Time Delays.” 2020 28th Iranian Conference on Electrical Engineering (ICEE). IEEE, 2020.

  • Marufkhani, Hanie, et al. “Sliding Mode Controller via Extended Kalman Filters For Mobile Robot.” 2019 7th International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2019.