Publications

[J82] M. Z. Abnili and N. L. Azad, 2021, “Universal forecasting model for context-aware perception in autonomous highway merging”, IEEE Transactions on Intelligent Vehicles (under Review). 

[J81] S. Alighanbari and N. L. Azad, 2021, “Deep reinforcement learning with NMPC assistance switching for urban autonomous driving”, IEEE Transactions on Intelligent Vehicles (under review). 

[J80] S. Alighanbari and N. L. Azad, 2020, “Safe adaptive deep reinforcement learning for autonomous driving in urban environments. additional filter? how and where?”, IEEE Transactions on Neural Networks and Learning Systems (under review). 

[J79] Y. Lin, J. McPhee, and N. L. Azad, 2020, “Co-optimization of on-ramp merging and plug-in hybrid electric vehicle powertrain operations using deep reinforcement learning”, IEEE Robotics and Automation Letters (under review). 

[J78] D. Mandyam, N. L. Azad, and J. McPhee, 2020, “Modified guiding vector field algorithm for path following on open parametric curves”, IEEE Transactions on Control System Technology (under review). 

[J77] M. H. Basiri, M. Pirani, N. L. Azad, and S. Fischmeister, 2021, “Security-Aware optimal actuator placement in vehicle platooning”, Asian Journal of Control (in press). 

[J76] S. Milani, H. Marzbani, N. L. Azad, W. Melek, and Reza N. Jazar, 2021, “The Importance of equation η=μn^2  in dimensional analysis and model-prototype experiments in vehicle dynamics”, Vehicle System Dynamics (in press). 

[J75] M. Delkhosh, M. Aliramezani, M. Irannejad, N. L. Azad, 2021, “Optimal control of hybrid electric vehicles by considering engine and tire/road noises”, Scientia Iranica (in press).  

[J74] S. A. Milani, H. Khayyam, H. Marzbani, W. Melek, N. L. Azad, and R. N. Jazar, 2020, “Smart autodriver algorithm for real-time autonomous vehicle trajectory control”, IEEE Transactions on Intelligent Transportation Systems (in press). 

[J73] Y. Lin, J. McPhee, and N. L. Azad, 2020, “Comparison of deep reinforcement learning and model predictive control for adaptive cruise control”, IEEE Transactions on Intelligent Vehicles (in press). 

[J72] M. Delkhosh, M. S. Foumani, and N. L. Azad, 2020, “A new framework for advancement of power management strategies in hybrid electric vehicles”, International Journal of Engineering, Transactions B: Applications, Vol.33, No.3, pp.468-476. 

[J71] M. Basiri, M. Pirani, N. L. Azad, and S. Fischmeister, 2019, “Security of vehicle platooning: a game-theoretic approach”, IEEE Access 7 (2019): 185565-185579. 

[J70] S. Tajeddin, S. Ekhtiari, M. Faieghi, and N. L. Azad, 2019, “Ecological adaptive cruise control with optimal lane selection in connected vehicle environments”, IEEE Transactions on Intelligent Transportation Systems (in press). 

[J69] S. Ekhtiari, M. Faieghi, and N. L. Azad, 2019, “Sensitivity analysis of a real-time trip planning assisted energy management system for connected plug-in hybrid electric vehicles", IEEE Transactions on Vehicular Technology (accepted).

[J68] B. Sakhdari and N. L. Azad, 2018, “Adaptive tube-based nonlinear MPC for ecological autonomous cruise control of plug-in hybrid electric vehicles”, IEEE Transactions on Vehicular Technology, Vol.67, No.12, pp.11390-11401.

[J67] M. Jalalmaab and N. L. Azad, 2018, “A stochastic power management strategy with skid avoidance for improving energy efficiency of in-wheel motor electric vehicles”, Proc. IMechE, Part D: Journal of Automobile Engineering, Vol.233, Issue 5, pp.1306-1319.

[J66] B. Sakhdari and N. L. Azad, 2018, “A distributed reference governor approach to ecological cooperative adaptive cruise control”, IEEE Transactions on Intelligent Transportation Systems, Vol.19, No.5, pp.1596-1607.

[J65] M. Batra, J. McPhee, N. L. Azad, 2018, “Real-time model predictive control of connected electric vehicles”, Vehicle System Dynamics (available online).

[J64] M. Batra, J. McPhee, N. L. Azad, 2018, “Anti-Jerk dynamic modeling and parameter identification of an electric vehicle based on road tests”, ASME Journal of Computational and Nonlinear Dynamics, Vol.13, Issue 10, 101005 (13 pages).

[J63] P. Golchoubian and N. L. Azad, 2017, “Real-time nonlinear model predictive control of a battery-supercapacitor hybrid energy storage system in electric vehicles”, IEEE Transactions on Vehicular Technology, Vol.66, No.11, pp.9678-9688.

[J62] S. Buggavetti, M. Batra, J. McPhee, and N. L. Azad, 2017, "Longitudinal vehicle dynamics modeling and parameter estimation for plug-in hybrid electric vehicle", SAE International Journal of Vehicle Dynamics, Stability, and NVH, Vol.1, No.2, pp.289-297.

[J61] A. Taghavipour, R. Masoudi, N. L. Azad, and J. McPhee, 2017, “Control-relevant parameter estimation application to a model-based PHEV power management system”, Optimal Control, Applications and Methods, Vol.38, Issue 6, pp.1148-1167.

[J60] A. Mozaffari and N. L. Azad, 2017, “Empirical investigation and analysis of the computational potentials of bio-inspired nonlinear model predictive controllers: success and challenges”, International J. of Bio-Inspired Computation, Vol.9, Issue 1, pp.19-34.

[J59] N. L. Azad, A. Mozaffari, and J. K. Hedrick, 2017, “Gain scheduled linear quadratic tracking system tuned optimally by covariance matrix adaption evolutionary strategy for automotive engine coldstart control”, International Journal of Automotive Technology, Vol.18, No.2, pp.195-207.

[J58] A. Mozaffari, M. Emami, N. L. Azad, and A. Fathi, 2017, "Comparisons of several variants of continuous quantum-inspired evolutionary algorithms", Journal of Experimental & Theoretical Artificial Intelligence, Vol.29, Issue 4, pp.869-909.

[J57] A. Mozaffari, A. Scott, N. L. Azad, and S. Chenouri, 2017, “A hierarchical selective ensemble randomized neural network hybridized with heuristic feature selection for estimation of sea-ice thickness”, Applied Intelligence, Vol.46, Issue 1, pp.16-33.

[J56] M. Delkhosh, M. S. Foumani, and N. L. Azad, 2017, “Optimization and comparison of different powertrain layouts for parallel hybrid electric vehicles equipped with continuous transmission”, International Journal of Heavy Vehicle Systems, Vol.24, No.1, pp.45-64.

[J55] N. L. Azad and A. Mozaffari, A. Fathi, 2017, “An optimal learning-based controller derived from Hamiltonian function and functional ELM combined with a cellular searching strategy for automotive engine coldstart hydrocarbon emission reduction”, International Journal of Machine Learning and Cybernetics, Vol.8, Issue 3, pp.955-979.

[J54] A. Mozaffari, A. Scott, S. Chenouri, and N. L. Azad, 2017, “A modular ridge extreme learning machine with differential evolutionary distributor applied to the estimation of sea ice thickness”, Soft Computing, Vol.21, Issue 16, pp.4635-4659.

[J53] N. L. Azad and A. Mozaffari, 2016, "Self-controlled bio-inspired globally evolved extreme learning machines: A comprehensive analysis with some recommendations", Artificial Intelligence Review, Vol.46, Issue 2, pp.167-223.

[J52] A. Mozaffari, N. L. Azad, M. Emami, and A. Fathi, 2016, "Mixed continuous/binary quantum-inspired learning system with non-negative least square optimisation for automated design of regularised ensemble extreme learning machines", Journal of Experimental & Theoretical Artificial Intelligence, Vol.28, Issue 3, pp.581-606.

[J51] M. Emami, A. Mozaffari, N. L. Azad, and B. Rezaei, 2016, "An empirical investigation into the effects of chaos on different types of evolutionary crossover operators for efficient global search in complicated landscapes", International Journal of Computer Mathematics, Vol.93, Issue 1, pp.3-26.

[J50] A. Mozaffari, A. Doosthoseini, and N. L. Azad, 2016, “Predictive control of suspension systems through combining dynamic matrix and constrained variable structure controllers”, ASME Journal of Dynamic Systems, Measurement and Control, Vol.138, Issue 12, pp.1-19.

[J49] A. Mozaffari, N. L. Azad, A. Hansen, and J. K. Hedrick, 2016, “A receding horizon sliding controller for automotive engine coldstart: design and hardware-in-the-loop testing with an echo state network high-fidelity model”, Asian Journal of Control, Vol.18, Issue 4, July 2016, pp.1219-1238.

[J48] A. Mozaffari, N. L. Azad, and J. K. Hedrick, 2016, “A nonlinear model predictive controller with multi agent online optimizer for automotive coldstart hydrocarbon emissions reduction”, IEEE Transactions on Vehicular Technology, Vol.65, Issue 6, pp.4548-4563.

[J47] M. Vajedi and N. L. Azad, 2016, “Ecological adaptive cruise controller for plug-in hybrid electric vehicles using nonlinear model predictive control", IEEE Intelligent Transportation Systems Transactions, Vol.17, Issue 1, pp.113-122.

[J46] A. Mozaffari, N. L. Azad, J. K. Hedrick, and A. Taghavipour, 2016, “A hybrid switching predictive controller with proportional integral derivative gains and GMDH neural representation of automotive engines for coldstart control”, Engineering Applications of Artificial Intelligence, Vol.48, Issue C, pp.72-94.

[J45] N. L. Azad, A. Mozaffari, and J. K. Hedrick, 2016, “A hybrid switching predictive controller based on bi-level kernel-based auto-regressive extreme learning machine and online trajectory builder for automotive hydrocarbon emissions reduction”, Neurocomputing, Vol.173, Issue P3, pp.1124-1141.

[J44] M. Delkhosh, M. S. Foumani, N. L. Azad, and P. Rostami, 2016, “A new control strategy for hybrid electric vehicles equipped with continuously variable transmission”, Proc. IMechE, Part D: Journal of Automobile Engineering, Vol.230, No.6, pp.803-816.

[J43] N. Mehrabi, J. McPhee, and N. L. Azad, 2016, "Design and evaluation of an observer-based disturbance rejection controller for electric power steering systems", Proc. IMechE, Part D: Journal of Automobile Engineering, Vol.230, No.7, pp.867-884. 

[J42] A. Taghavipour, M. Vajedi, N. L. Azad, and J. McPhee, 2016, “A comparative analysis of route-based energy management systems for PHEVs”, Asian Journal of Control, Vol.18, Issue 4, pp.1219-1238.

[J41] A. Mozaffari and N. L. Azad, 2016, "Cellular implementation of the great salmon run (TGSR) algorithm for designing a black-box identifier applied to engine coldstart modeling", International Journal of Computer Applications in Technology, Vol.54, No.1, pp.23-41.

[J40] A. Mozaffari and N. L. Azad, 2016, “A robust time delay auto-regressive exogenous fuzzy inference system for real-time estimation of catalyst temperature over engines coldstart operation: a multi-objective implementation scenario”, International Journal of Dynamics and Control, Vol.4, Issue 1, pp.134-153.

[J39] N. L. Azad and A. Mozaffari, 2016, “Biologically derived time-delay soft sensors for online monitoring of automotive engine coldstart operation: a comparative analysis with some recommendations”, Meccanica, Vol.51, Issue 8, pp.1931-1972.Vol.18, Issue 1, pp.29-39.

[J38] A. Mozaffari, M. Vajedi, M. Chehresaz, and N. L. Azad, 2016, "Multi-objective component sizing of a power-split plug-in hybrid electric vehicle powertrain using Pareto based natural optimization machines", Engineering Optimization, Vol.48, Issue 3, pp.361-379.

[J37] M. Chehresaz, M. Vajedi, A. Mozaffari, and N. L. Azad, 2016, "Component sizing of a power-split plug-in hybrid electric vehicle powertrain for optimal fuel economy", International Journal of Powertrains, Vol.5, Issue 1, pp.69-92.

[J36] N. L. Azad, A. Mozaffari, M. Vajedi, and Y. Masoudi, 2016, “Chaos oscillator differential search combined with Pontryagin’s minimum principle for simultaneous power management and component sizing of PHEVs”, Engineering and Optimization, Vol.17, Issue 4, pp.727-760.

[J35] A. Mozaffari, N. L. Azad, and A. Fathi, 2015, “Simultaneous knowledge-based identification and optimization of PHEV fuel economy using hyper-level Pareto-based chaotic Lamarckian immune algorithm, MSBA optimizer and fuzzy programming”, Int. J. of Intelligent Computing and Cybernetics, Vol.8, Issue 1, pp.2-27.

[J34] N. L. Azad, 2015, “On-line optimization of automotive engine coldstart hydrocarbon emissions control at idle conditions”, Proc. IMechE, Part I: Journal of Systems and Control Engineering, Vol.229, No.9, pp.781-796.

[J33] X. X. Zhao, A. H. Ing, N. L. Azad, and J. McPhee, 2015, “An optimal gear shifting strategy for heavy trucks with trade-off study between trip time and fuel economy”, International Journal of Heavy Vehicle Systems, Vol.22, Issue 4, pp.356-374.

[J32] A. Taghavipour, N. L. Azad, and J. McPhee, 2015, “Real-time predictive control strategy for a plug-in hybrid electric powertrain”, Mechatronics, Vol.29, pp.13-27.

[J31] A. Mozaffari and N. L. Azad, 2015, “A soft sensor based on the integration of Tikhonov regularized extreme learning machine and accelerated kernels applied to real-time identification of catalyst temperature over engine’s coldstart operation”, International Journal of Computational Intelligence and Applications, Vol.14, No.4, pp.1-23.

[J30] A. Mozaffari and N. L. Azad, 2015, "An ensemble neuro-fuzzy radial basis network with self-adaptive swarm based supervisor and negative correlation for modeling automotive engine coldstart hydrocarbon emissions: A soft solution to a crucial automotive problem", Applied Soft Computing Vol.32, pp.449-467. 

[J29] N. L. Azad and A. Mozaffari, 2015, “Calibration of catalyst temperature in automotive engines over coldstart operation in the presence of different random noises and uncertainty”, Frontiers of Mechanical Engineering, Vol.10, Issue 4, pp.405-412. 

[J28] A. Mozaffari and N. L. Azad, 2015, "Coupling gaussian generalized regression neural network and mutable smart bee algorithm to analyze the characteristics of automotive engine coldstart hydrocarbon emission", Journal of Experimental & Theoretical Artificial Intelligence, Vol.27, Issue 3, pp.253-272.

[J27] A. Mozaffari, M. Vajedi, and N. L. Azad, 2015, “Real-time immune-inspired optimum state-of-charge trajectory estimation using upcoming route information preview and neural network for plug-in hybrid electric vehicles fuel economy”, Frontiers of Mechanical Engineering, Vol.10, Issue 2, pp.154-167.

[J26] A. Taghavipour, N. L. Azad, and J. McPhee, 2015, "Design and evaluation of a predictive powertrain control system for a PHEV to improve fuel economy and emissions”, Proc. IMechE, Part D: Journal of Automobile Engineering, Vol.229, No.5, pp.624-640.

[J25] L. Mozaffari, A. Mozaffari, and N. L. Azad, 2015, “Vehicle speed prediction via sliding-window time series analysis and evolutionary least learning machine: A case study on San-Francisco urban roads”, Engineering Science and Technology: an International Journal, Vol.18, Issue 2, pp.150-162.

[J24] A. Mozaffari, M. Vajedi , and N. L. Azad, 2015, “A robust safety-oriented autonomous cruise control scheme for electric vehicles based on model predictive control and online sequential extreme learning machine with a hyper-level fault tolerance-based supervisor”, Neurocomputing, Volume 151, Part 2, pp.845-856.

[J23] A. Mozaffari, N. L. Azad, and A. Fathi, 2015, “Auto-regressive multiple-valued logic neurons with sequential Chua’s oscillator backpropagation learning for online prediction and synchronization of chaotic trajectories”, International Journal of Intelligent Computing and Cybernetics, Vol. 8, Issue 2, pp.102-138. 

[J22] A. Mozaffari, M. Emami, N. L. Azad, and A. Fathi, 2015, "A modified SSLPS algorithm with logistic pseudo-random sequence generator for improving the performance of Neka power plant - A comparative/conceptual analysis", International Journal of Applied Evolutionary Computing, Vol.6. Issue 1, pp.1-29.

[J21] A. Mozaffari, M. Emami, N. L. Azad, and A. Fathi, 2015, "On the efficacy of chaos-enhanced heuristic walks for robust and accurate intelligent search, Part A: An experimental analysis", Journal of Experimental & Theoretical Artificial Intelligence, Vol.27, Issue 4, pp.389-422.  

[J20] A. Mozaffari and N. L. Azad, 2014, “Coupling a chaotically encoded firefly algorithm with ranking to a physics-based mathematical model for robust optimization of a gas turbine energy system”, Int. J. of Mathematical Modelling and Numerical Optimisation, Vol.5, No.4, pp.295-317.

[J19] A. Mozaffari, A. Fathi, and N. L. Azad, 2014, “Preferred design of recurrent neural network architecture using a multi-objective evolutionary algorithm with un-supervised information recruitment: A paradigm for modeling shape memory alloys”, Meccanica, Vol.49, No.6, pp.1297-1326.

[J18] A. Mozaffari, N. L. Azad, and A. Fathi, 2014, "Regularized machine learning through constraint swarm and evolutionary computation applied to regression problems", Int. J. of Intelligent Computing and Cybernetics, Vol.7, Issue 4, pp.346-381. 

[J17] M. Vajedi, M. Chehresaz, and N. L. Azad, 2014, "Intelligent power management of plug-in hybrid electric vehicles, part I: real-time optimum SOC trajectory builder", International Journal of Electric and Hybrid Vehicles, Vol.6, No.1, pp.46-67.

[J16] M. Vajedi, M. Chehresaz, and N. L. Azad, 2014, "Intelligent power management of plug-in hybrid electric vehicles, part II: real-time route-based power Management", International Journal of Electric and Hybrid Vehicles, Vol.6, No.1, pp.68-86.

[J15] A. Mozaffari and N. L. Azad, 2014, "Optimally pruned extreme learning machine with ensemble of regularization techniques and negative correlation penalty applied to automotive engine coldstart hydrocarbon emission identification", Neurocomputing, Vol.131, pp.143-156.

[J14] H. Adibi-asl, N. L. Azad, and J. McPhee, 2014, “Math-based torque converter modelling to evaluate damping characteristics and reverse flow mode operation”, International Journal of Vehicle Systems Modeling and Testing, Vol.9, No.1, pp.36-55.  

[J13] A. Mozaffari, M. Vajedi, and N. L. Azad, 2014, “Implementation of a fast non-dominated sorting firefly algorithm and a vehicle simulation model for multi-objective component sizing of a power-split PHEV powertrain: A comparative numerical study”, Int. J. of Mathematical Modelling and Numerical, Vol.5, No.4, pp.318-341.

[J12] A. Mozaffari, M. Chehresaz, and N. L. Azad, 2014, "Component sizing of a plug-in hybrid electric vehicle powertrain, part B: Coupling bee-inspired metaheuristics to ensemble of local neuro-fuzzy radial basis identifiers", Int. J. of Bio-Inspired Computing, Vol.6, No.5, pp.303-321.

[J11] A. Mozaffari, M. Chehresaz, and N. L. Azad, 2013, "Component sizing of a plug-in hybrid electric vehicle powertrain, part A: Coupling bio-inspired techniques to meshless variable-fidelity surrogate models", Int. J. of Bio-Inspired Computing, Vol.5, No.6, pp.350-383.

[J10] R. S. Razavian, N. L. Azad, and J. McPhee, 2013, “A battery hardware-in-the-loop setup for concurrent design and evaluation of real-time optimal HEV power management controllers”, International Journal of Electric and Hybrid Vehicles, Vol.5, No.3, pp.177-194.

[J9] N. L. Azad, P. R. Sanketi, and J. K. Hedrick, 2012, “Determining model accuracy requirements for automotive engine coldstart hydrocarbon emissions control”, ASME Journal of Dynamic Systems, Measurement and Control, Vol.134, Issue 5, pp.1-11.

[J8] J. Banerjee, H. Adibi-Asl, N. L. Azad, and J. McPhee, 2012, “Parametric importance analysis using symbolic sensitivity information from a torque converter model”, SAE International Journal of Passenger Cars-Mechanical Systems, Vol. 5, No.1, pp.621-638.

[J7] A. Taghavipour, N. L. Azad, and J. McPhee, 2012, “An optimal power management strategy for power split plug-in hybrid electric vehicles”, International Journal of Vehicle Design, Vol.60, No.3/4, pp.286-304.

[J6] R. S. Razavian, A. Taghavipour, N. L. Azad, and J. McPhee, 2012, “Design and evaluation of a real-time optimal control system for series hybrid electric vehicles”, International Journal of Electric and Hybrid Vehicles, Vol.4, No.3, pp.260-288.

[J5] N. L. Azad, A. Khajepour, and J. McPhee, 2009, “A survey on stability enhancement strategies for articulated steer vehicles”, International Journal of Heavy Vehicle Systems, Vol. 16, Issue 1-2, pp.26-48.

[J4] N. L. Azad, A. Khajepour, and J. McPhee, 2007, “Robust state feedback stabilization of articulated steer vehicles”, Journal of Vehicle System Dynamics, Vol.45, Issue 3, pp.249-275.

[J3] N. L. Azad, A. Khajepour, and J. McPhee, 2007, “The effects of locking differentials on the snaking mode of articulated steer vehicles”, International Journal of Vehicle Systems Modeling and Testing, Vol. 2, No.2, pp.101-127.

[J2] N. L. Azad, A. Khajepour, and J. McPhee, 2007, “Robust variable structure control for stabilization of articulated steer vehicles by torque vectoring”, International Journal of Heavy Vehicle Systems, Vol. 14, Issue 4, pp.331-354.

[J1] N. L. Azad, J. McPhee, and A. Khajepour, 2005, “Off-road lateral stability analysis of an articulated steer vehicle with a rear-mounted load”, International Journal of Vehicle Systems Modeling and Testing, Vol. 1, Issue 1-3, pp.106-130.

[MB4] S. Tajeddin, Y. Masoudi, and N. L. Azad, 2021, “Real-time Nonlinear Model Predictive Control Optimizers for Adaptive Cruise Control: A Comparative Study”, In: L. Dai and R. N. Jazar (Eds), Nonlinear Approaches in Engineering Applications-Design Engineering Problems, Springer (in press). 

[MB3] M. H. Basiri, N. L. Azad, and S. Fischmeister, 2021, “Secure Dynamic Nonlinear Heterogeneous Vehicle Platooning: Denial-of-Service Cyber-Attack Case”, In: A. I. Awad, S. Furnell, M. Paprzycki, S. K. Sharma (Eds), Security in Cyber-Physical Systems, Studies in Systems, Decision and Control, Vol.339, pp.287-315, Springer. 

[MB2] A. Taghavipour, M. Vajedi, and N. L. Azad, 2018, “Intelligent Control of Connected Plug-in Hybrid Electric Vehicles”, Springer (published monograph). 

[MB1] N. L. Azad, A. Khajepour, and J. McPhee, 2008, “Articulated Steer Vehicles: Dynamics and Control”, VDM Verlag Dr. Müller (published monograph). 

[C54] M. Z. Abnili, N. L. Azad, H. B. Oqab, and G. B. Dietrich, 2021, “Space Domain Awareness Using Deep Continual Learning Sequence Predictors”, 72nd International Astronautical Congress, 25-29 October 2021 Dubai, United Arab Emirates (under review). 

[C53] M. Z. Abnili and N. L. Azad, 2020, “Roundabout Situational Awareness for Automated Vehicles with Hybrid Machine Learning Approach”, Proceedings of the 7th International Conference of Control Systems, and Robotics (CDSR'20), Niagara Falls, Canada, November 9-11, 2020, 8 pages. 

[C52] S. Alighanbari and N. L. Azad, 2020, “Multi-Vehicle Coordination and Real-time Control of Connected and Automated Vehicles at Roundabouts”, 2020 IEEE 3rd Connected and Automated Vehicles Symposium, 4-5 October, Victoria, Canada. 

[C51] M. H. Basiri, B. Ghojogh, N. L. Azad, S. Fischmeister, F. Karray, and M. Crowley, 2020, “Distributed Nonlinear Model Predictive Control and Metric Learning for Heterogeneous Vehicle Platooning with Cut-in/Cut-out Maneuvers”, 59th IEEE Conference on Decision and Control, December 8-11, 2020, Jeju Island, Republic of Korea. 

[C50] M. H. Basiri, N. L. Azad, and S. Fischmeister, 2020, “Attack Resilient Heterogeneous Vehicle Platooning Using Secure Distributed Nonlinear Model Predictive Control”, 28th Mediterranean Conference on Control and Automation (MED'2020), Saint-Raphael, France, IEEE, 2020. 

[C49] M. H. Basiri, N. L. Azad, and S. Fischmeister, 2020, “Distributed Time-varying Kalman Filter Design and Estimation over Wireless Sensor Networks Using OWA Sensor Fusion Technique”, 28th Mediterranean Conference on Control and Automation (MED'2020), France, IEEE, 2020.  

[C48] Y. Lin, J. McPhee, and N. L. Azad, 2020, “Anti-Jerk On-Ramp Merging Using Deep Reinforcement Learning”, 2020 IEEE Intelligent Vehicles Symposium, October 20-23, 2020, Las Vegas, NV, USA. 

[C47] M. Z. Abnili and N. L. Azad, 2020, “A New Data-Driven Approach for On-line Traffic Participant Behaviour Prediction at Intersections for Automated Driving”, 2020 CSME International Congress, University of Prince Edward Island, Charlottetown, PEI. 

[C46] H. M. Daniali and N. L. Azad, 2020, “Fast Nonlinear Model Predictive Control of Quadrotors: Design and Experiments”, 2020 CSME International Congress, University of Prince Edward Island, Charlottetown, PEI.  

[C45] Y. Lin, J. McPhee, and N. L. Azad, 2019, “Longitudinal Dynamic versus Kinematic Models for Car-following Control Using Deep Reinforcement Learning”, 22nd IEEE Intelligent Transportation Systems Conference, October 27-30, Auckland, New Zealand, 7 pages. 

[C44] S. Alighanbari and N. L. Azad, 2019, “Ecological NMPC Controller for Connected and Automated Plug-in Hybrid Electric Vehicles at Roundabouts”, 2019 IEEE Intelligent Vehicles Symposium, June 9-12, Paris, France, 6 pages. 

[C43] M. Z. Abnili and N. L. Azad, 2019, “Short term Predictions of Preceding Vehicle Speeds for Connected and Automated Vehicles”, 6th International Conference of Control, Dynamic Systems, and Robotics, June 6-7, Ottawa, Canada, 8 pages. 

[C42] S. M. Hosseini, M. M. Majdabadi, N. L. Azad, J. Z. Wen, A. K. Raghavan, 2018, “Intelligent Energy Management of Vehicular Solar Idle Reduction Systems with Reinforcement Learning”, 2018 IEEE Vehicle Power and Propulsion Conference, Aug. 27-30, Chicago, IL, USA, 6 pages. 

[C41] M. Batra, Anson Maitland, J. McPhee, and N. L. Azad, 2018, “Non-Linear Model Predictive Anti-Jerk Cruise Control for Electric Vehicles with Slip-Based Constraints", 2018 American Control Conference, 27-29 June, Milwaukee, Wisconsin, USA, 6 pages. 

[C40] H. Marefat, N. L. Azad, M. Jalalmaab, 2018, “Energy Management of Battery Electric Vehicles Hybridized with Supercapacitor using Stochastic Dynamic Programming”, SICE International Symposium on Control Systems, March 9-11, Tokyo, Japan, 6 pages. 

[C39] M. Batra, J. McPhee, N. L. Azad, 2017, “Anti-jerk Model Predictive Cruise Control for Connected Electric Vehicles with Changing Road Conditions”, 2017 Asian Control Conference, 17-20 December, Gold Coast, Australia, 6 pages. 

[C38] B. Sakhdari, E. M. Shahrivar, and N. L. Azad, 2017, “Robust Tube-based MPC for Automotive Adaptive Cruise Control Design”, 20th IEEE Intelligent Transportation Systems Conference, October 16-19, Yokohama, Japan, 6 pages. 

[C37] S. Buggaveeti, J. McPhee, N. L. Azad, 2017, “Longitudinal Vehicle Dynamics Modeling and Parameter Estimation for Plug-in Hybrid Electric Vehicle”, SAE World Congress, April 4-6, 2017, Detroit, Michigan, USA, 7 pages. 

[C36] S. Tajeddin and N. L. Azad, 2016, “Ecological Cruise Control of a Plug-in Hybrid Electric Vehicle: A Comparison of Different GMRES-based Nonlinear Model Predictive Controls”, 2017 American Control Conference, May 24-26, Seattle, USA, 6 pages.  

[C35] P. Golchoubian, N. L. Azad, and K. Ponnambalam, 2016, “Stochastic Nonlinear Model Predictive Control of Battery-Supercapacitor Hybrid Energy Storage Systems in Electric Vehicles”, 2017 American Control Conference, May 24-26, Seattle, USA, 6 pages. 

[C34] Y. Masoudi and N. L. Azad, 2016, “MPC-based Battery Thermal Management Controller for Plug-in Hybrid Electric Vehicles”, 2017 American Control Conference, May 24-26, Seattle, USA, 6 pages. 

[C33] M. Batra, J. McPhee, N. L. Azad, 2016, “Parameter Identification for Longitudinal Dynamic Model based on Road Tests of Electric Vehicle”, ASME 2016 International Design Engineering Technical Conferences, Charlotte, North Carolina, 8 pages. 

[C32] B. Sakhdari, M. Vajedi, and N. L. Azad, 2016, “Ecological Adaptive Cruise Control of Connected Plug-in Hybrid Electric Vehicles for Urban Driving”, 19th IEEE Intelligent Transportation Systems Conference, Nov. 1-4, Rio de Janeiro, Brazil, 7 pages. 

[C31] S. Tajeddin, M. Vajedi, and N. L. Azad, 2016, “A Newton/GMRES Approach to Predictive Ecological Adaptive Cruise Control of a Plug-in Hybrid Electric Vehicle in Car-following Scenarios”, 7th IFAC Symposium on Mechatronic Systems, Sep. 5-8, Loughborough, UK, 7 pages. 

[C30] A. Mozaffari, A. Doosthoseini, B. Sakhdari, M. Vajedi, and N. L. Azad, 2016, “Automotive Coldstart Emissions Reduction using MIMO Sliding Mode Control with Actuator Saturation”, 2016 American Control Conference, July 6-8, Boston, MA, USA, 7 pages.  

[C29] B. Sakhdari and N. L. Azad, 2015, “An Optimal Energy Management System for Battery Electric Vehicles”, IFAC Workshop on Engine and Powertrain Control, Simulation and Modeling, August 2015, Columbus, USA, Vol.48, Issue 15, pp.86-92. 

[C28] Y. Masoudi, A. Mozaffari, and N. L. Azad, 2015, “Battery Thermal Management of Electric Vehicles: An Optimal Control Approach”, ASME 2015 Dynamic Systems and Control Conference, October 2015, Columbus, Ohio, USA, 7 pages. 

[C27] P. Golchoubian and N. L. Azad, 2015, “An Optimal Energy Management System for Electric Vehicles Hybridized with Supercapacitor”, ASME 2015 Dynamic Systems and Control Conference, October 2015, Columbus, Ohio, USA, 7 pages. 

[C26] S. Tajeddin, M. Batra, N. L. Azad, J. McPhee, and R. Fraser, 2015, “An Adaptive and Fast Control Strategy for Antilock Braking System”, ASME 2015 Dynamic Systems and Control Conference, October 2015, Columbus, Ohio, USA, 6 pages. 

[C25] A. Taghavipour, N. L. Azad, and J. McPhee, 2015, “Multi-parametric Energy Management System with Reduced Computational Complexity for Plug-in Hybrid Electric Vehicles”, European Control Conference 2015, July 2015, Austria, pp.3377-3382. 

[C24] S. Kim, N. L. Azad, and J. McPhee, 2015, “High-fidelity Modeling of an Electric Vehicle”, ASME 2015 Dynamic Systems and Control Conference, October 2015, Columbus, Ohio, USA, 10 pages. 

[C23] X. Zhao, H. Adibi-Asl, N. L. Azad, and J. McPhee, 2014, “Mean Value Engine Modelling of a Turbocharged Diesel Engine for Mining Trucks”, CSME International Congress 2014, Toronto, Ontario, Canada, 6 pages.  

[C22] S. Kim, N. L. Azad, and J. McPhee, 2014, “Improving Stability of a Narrow Track Personal Vehicle using an Active Tilting System”, SAE 2014 World Congress, SAE Paper 2014-01-0087, 6 pages.  

[C21] R. Masoudi, H. Adibi-asl, N. L. Azad, and J. McPhee, 2014, “Parameter Identification of a Quasi-Dimensional Spark-Ignition Engine Combustion Model”, SAE 2014 World Congress, SAE Paper 2014-01-0385, 7 pages. 

[C20] M. Vajedi, A. Taghavipour, N. L. Azad, and J. McPhee, 2014, “A Comparative Analysis of Route-based Power Management Strategies for Real-time Application in Plug-in Hybrid Electric Vehicles”, 2014 American Control Conference, Portland, pp.2612-2617.  

[C19] A. Taghavipour, R. Masoudi, N. L. Azad, and J. McPhee, 2013, “High-fidelity Modeling of Power-split Plug-in Hybrid Electric Powertrains for Control Performance Evaluation”, ASME 2013 International Design Engineering Technical Conferences, August 2013, Portland, 9 pages. 

[C18] H. Adibi-asl, N. L. Azad, and J. McPhee, 2012, “Modeling Torque Converter Characteristics in Automatic Drivelines: Lock-up Clutch and Engine Braking Simulation”, ASME International Design Engineering Technical Conferences, August 2012, Chicago, IL, 9 pages.   

[C17] M. Vajedi, A. Taghavipour, and N. L. Azad, 2012, “Traction-Motor Power Ratio and Speed Trajectory Optimization for Power-split PHEVs using Route Information”, ASME 2012 International Mechanical Engineering Congress, Texas, USA, 8 pages. 

[C16] C. Beg, M. Vajedi, M. Nezhad-Ahmadi, N. L. Azad, and S. Safavi-Naeini, 2012, “A Cost-Effective Radar System for Automotive Powertrain Control Applications”, IEEE Conference on Intelligent Transportation Systems Anchorage, AK, USA, pp.84-89.  

[C15] N. L. Azad, P. R. Sanketi, and J. K. Hedrick, 2012, “Sliding Mode Control with Bounded Inputs and Its Application to Automotive Coldstart Emissions Reduction”, Invited Session on Advanced Control of Spark Ignited Engines, 2012 American Control Conference, Canada, pp.2860-2865.  

[C14] A. Taghavipour, M. Vajedi, N. L. Azad, and J. McPhee, 2012, “Predictive Power Management Strategy for a PHEV Based on Different Levels of Trip Information”, 2012 IFAC Workshop on Engine and Powertrain Control, Simulation and Modeling, France, Vol.45, Issue 30, pp.326-333.  

[C13] R. S. Razavian, N. L. Azad, and J. McPhee, 2012, “On Real-Time Optimal Control of a Series Hybrid Electric Vehicle”, Invited session on Advanced Control of Electric Vehicles and Hybrid Electric Vehicles, 2012 American Control Conference, Montreal, Canada, pp.547-552.  

[C12] H. Adibi-asl, N. L. Azad, and J. McPhee, 2011, “Math-based Modeling and Parametric Sensitivity Analysis of Torque Converter Performance Characteristics”, the SAE 2011 World Congress, SAE Paper 2011-01-0732, 9 pages. 

[C11] N. Mehrabi, N. L. Azad, and J. McPhee, 2011, “Optimal Disturbance Rejection Control Design for Electric Power Steering Systems”, 50th IEEE Conference on Decision and Control and European Control Conference, Florida, pp.6584-6589. 

[C10] A. Fazeli, A. Khajepour, C. Devaud, and N. L. Azad, 2009, “A New Air Hybrid Engine using Throttle Control”, SAE World Congress, SAE Paper 2009-01-1319, 8 pages. 

[C9] P. R. Sanketi, N. L. Azad, C. Zavala, and J. K. Hedrick, 2008, “An Optimal Controller Formulation via Convex Relaxation for Automotive Coldstart Hydrocarbon Reduction”, 9th International Symposium on Advanced Vehicle Control, Kobe International Conference Center, Kobe, Japan, pp.312-317. 

[C8] N. L. Azad, A. Khajepour, and J. McPhee, 2006, “An Active Control Device Based on Differential Braking for Articulated Steer Vehicles”, SAE Commercial Vehicle Engineering Congress & Exhibition, USA, SAE Paper 2006-01-3568, 8 pages. 

[C7] N. L. Azad, A. Khajepour, and J. McPhee, 2006, “Robust Stabilization of Articulated Steer Vehicles by Differential Braking”, CSME Forum 2006, Symposium on Intelligent Vehicles and Transportation Systems, 11 pages. 

[C6] N. L. Azad, J. McPhee, and A. Khajepour, 2005, “Stability Control of Articulated Steer Vehicles by Passive and Active Steering Systems”, SAE Commercial Vehicle Engineering Congress & Exhibition, USA, SAE Paper 2005-01-3573, 10 pages. 

[C5] N. L. Azad, A. Khajepour, and J. McPhee, 2005, “Tire Forces and Moments and On-road Lateral Stability of Articulated Steer Vehicles”, SAE Commercial Vehicle Engineering Congress & Exhibition, 2005, USA, SAE Paper 2005-01-3597, 13 pages.  

[C4] N. L. Azad, J. McPhee, and A. Khajepour, 2005, “The Effects of Front and Rear Tires Characteristics on the Snaking Behavior of Articulated Steer Vehicles”, Vehicle Power and Propulsion (VPP), 2005 IEEE Conference, USA, pp.221-226. 

[C3] N. L. Azad, A. Khajepour A, and J. McPhee, 2005, “Analysis of Jackknifing in Articulated Steer Vehicles”, Vehicle Power and Propulsion, 2005 IEEE Conference, USA, pp.216-220. 

[C2] N. L. Azad, A. Khajepour, and J. McPhee, 2005, “The Effects of Drive Configuration on Undesirable Behaviors of Articulated Steer Vehicles”, Vehicle Power and Propulsion (VPP), 2005 IEEE Conference, USA, pp. 211-215. 

[C1] Y. He, N. L. Azad, C. Urbaniak, A. Khajepour, and J. McPhee, 2004, “Lateral Stability Analysis and Parameter Estimation of Articulated Frame Steer Vehicles”, Proceedings of CSME 2004, London, Ontario, Canada, pp.962-971. 

[P2] A. Khajepour, A. Fazeli, C. Devaud, and N. L. Azad, 2015, Air Compression Method and Apparatus, U.S. Patent #9074588.

[P1] A. Khajepour, G. Boyer, and N. L. Azad, 2010, Mechanism Based Reactive Planar Suspension, US patent application #20100024934.