Robotic and Autonomous Control (RAC) Lab

Department of Mechanical Engineering

Auburn University

About Us

Welcome to Robotic and Autonomous Control (RAC) Lab. Our lab is located in the Department of Mechanical Engineering at Auburn University and is led by Dr. Vahid Azimi. The mission of our research is to develop the state-of-the-art control and optimization techniques applicable to real-world cyber-physical systems (CPSs) such as unmanned aerial/ground vehicles and legged robots, from theoretical studies to practical implementation. We seek rigorous approaches that integrate learning and optimization techniques, and control theory towards developing safe and robust control methodologies for uncertain dynamical CPSs operating in complex environments. The areas of interest in our lab are robotics, autonomous systems, learning, nonlinear control, and optimization.

Contact

Vahid Azimi

Office Address:

3446 Wiggins Hall

Auburn, AL 36839


Phone: (334)-844-8081

Email: vahidazimi@auburn.edu


Opening

We are looking for highly motivated Ph.D. students in Spring 2022 and/or Fall 2022. For details, please see the Opening page.

News

  • September 2021: Our paper “Exponential control Lyapunov-barrier function using a filtering-based concurrent learning adaptive approach" accepted for publication in the IEEE Transactions on Automatic Control.

  • September 2021: Our paper “Impedance learning-based adaptive control for human-robot interaction" accepted for publication in the IEEE Transactions on Control Systems Technology.

  • August 2021: I will be serving as an Associate Editor for the BioRob 2022, IEEE RAS/EMBS International Conference on Biomedical Robotics & Biomechatronics.

  • July 2021: I will be joining the Department of Mechanical Engineering at Auburn University as an Assistant Professor, starting in Fall 2021.

  • July 2021: Our paper “Real-time safety and control of robotic manipulators with torque saturation in operational space" accepted for publication in the IEEE/RSJ International Conference on Intelligent Robots and Systems.

  • June 2021: Our paper “Global sensitivity analysis of aging parameters for a Lithiumion battery cell using optimal charging profiles" nominated as the Best Student Paper Award Finalist in the IEEE Conference on Control Technology and Applications.

  • April 2021: Our paper “Global sensitivity analysis of aging parameters for a Lithiumion battery cell using optimal charging profiles" accepted for publication in the IEEE Conference on Control Technology and Applications.

  • March 2021: Our paper “State estimation-based control of COVID-19 epidemic before and after vaccine development" accepted for publication in the Journal of Process Control.

  • March 2021: An extensive set of kinematic and kinetic human gait data for able-bodied and transfemoral amputee subjects along with the accompanying MATLAB code is now publicly available in Data & Code. The related paper can be found in Paper J5.

  • January 2021: Our paper “Fast charging-minimum degradation optimal control of series-connected battery modules with DC/DC bypass converters based on an electrochemical-thermal-aging model” accepted for presentation at the 2021 American Control Conference.

  • January 2021: Our paper “Adaptively robust control policy synthesis through Riemannian motion policies" accepted for publication in the IEEE Control Systems Letters.

  • January 2021: Our paper “Adaptive leader-follower control for multi-robot teams with uncertain network structure" accepted for presentation at the 2021 American Control Conference.

  • January 2021: Vahid joined the Technical Committees on Manufacturing Automation and Robotic Control (MARC) and System Identification and Adaptive Control (SIAC) in the IEEE Control Systems Society (CSS).

  • September 2020: Our paper “An extensive set of kinematic and kinetic data for individuals with intact limbs and transfemoral prosthesis users" published in the Applied Bionics and Biomechanics.

  • August 2020: Our paper “Robust ground reaction force estimation and control of lower-limb prostheses" published in the IEEE Transactions on Systems, Man and Cybernetics: Systems.

  • July 2020: Our paper “Cable estimation-based control for wire-borne underactuated brachiating robots: a combined direct-indirect adaptive robust approach" accepted for presentation at the 2020 Conference on Decision and Control.

  • June 2020: Our paper “Feedback whole-body control of wheeled inverted pendulum humanoids using operational state space" accepted for presentation at the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems.

  • June 2020: Vahid joined the Stanford Energy Control Lab in the Energy Resources Engineering Department at Stanford University to start a new research direction as a Postdoctoral Research Fellow.

  • May 2020: Vahid received the 2020 Outstanding ECE Graduate Instructor Award from the Georgia Institute of Technology.

  • February 2020: Our paper “Enhancing produce safety: state estimation-based robust adaptive control of a produce wash system" published in the Journal of Process Control.