Publications
You can also find my articles on my Google Scholar profile.
Journal Papers
 | Multi-Model Safety Aware Deep Reinforcement Learning-based Output Feedback Control of Autonomous Surface Vessels Behzad Farzanegan, Jagannathan Sarangapani IEEE Journal of Oceanic Engineering, 2025 (in review) 📄 Paper |
 | Explainable and Safety Aware Deep Reinforcement Learning-based Control of Nonlinear Discrete-Time Systems Using Neural Network Gradient Decomposition Behzad Farzanegan, Jagannathan Sarangapani IEEE Transactions on Automation Science and Engineering, 2025 (Revised) 📄 Paper |
 | Data-Driven Distributed Optimal Control Using Neighborhood Optimization for Nonlinear Interconnected Systems Behzad Farzanegan, , M.B. Menhaj, and A.A. Suratgar Journal of Optimization Theory and Application, 2024 (Published) 📄 Paper |
 | Lifelong Safe Optimal Adaptive Tracking Control of Nonlinear Strict-feedback Discrete-time Systems Behzad Farzanegan, Jagannathan Sarangapani International Journal of Adaptive Control and Signal Processing, 2024 (Published) 📄 Paper |
 | Continual Reinforcement Learning Formulation for Zero-Sum Game-based Constrained Optimal Tracking Behzad Farzanegan, Jagannathan Sarangapani IEEE Transactions on Systems, Man and Cybernetics: Systems , 2023 (Published) 📄 Paper |
 | Optimal Adaptive Tracking Control of Partially Uncertain Nonlinear Discrete-time Systems using Lifelong Hybrid Learning Behzad Farzanegan, Jagannathan Sarangapani IEEE Transactions on Neural Networks and Learning Systems, 2023 (Published) 📄 Paper |
 | Distributed optimal control for continuous-time nonaffine nonlinear interconnected systems Behzad Farzanegan, Amir A. Suratgar, Mohammad B. Menhaj, and Mohsen Zamani International Journal of Control, 2022 (Published) 📄 Paper |
 | A gradient ascent algorithm based on possibilistic fuzzy C-Means for clustering noisy data Hosein Saberi, Reza Sharbati, Behzad Farzanegan. Expert Systems with Applications , 2022 (Published) 📄 Paper |
 | A neuro observer-based near-optimal control for nonaffine nonlinear systems with control input constraints Behzad Farzanegan, Mohsen Zamani, Mohammad B. Menhaj, and Amir A. Suratgar. Control Theory and Technology, 2021 (Published) 📄 Paper |
 | A data-driven method for prediction and optimal control of ship motions for safe crew transfer to offshore wind turbines Behzad Farzanegan, Ehsan Esmailian, Mohammad B. Menhaj, and Amir A. Suratgar. Applied Ocean Research, 2019 (Published) 📄 Paper |
 | Two MRAC Designs for the MEMS Based AC Voltage Reference Source Behzad Farzanegan, Ehsan Niafar, Ehsan Ranjbar, and Amir A. Suratgar. Iranian Journal of Science and Technology, Transactions of Electrical Engineering , 2019 (Published) 📄 Paper |
 | A robust neuro-based adaptive control system design for a SES with uncertain dynamics and input saturation to cargo transfer at sea Ehsan Esmailian, Behzad Farzanegan, Mohammad B. Menhaj Applied Ocean Research, 2018 (Published) 📄 Paper |
Conference Papers
 | Reinforcement Learning-Based Constrained Optimal Control of Strict-feedback Nonlinear Systems: Application to Autonomous Underwater Vehicles Behzad Farzanegan, Jagannathan Sarangapani IEEE Conference on Control Technology and Applications (CCTA), 2024 (Published) 📄 Paper |
 | Continual Learning-based Optimal Output Tracking of Nonlinear Discrete-time Systems with Constraints: Application to Safe Cargo Transfer Behzad Farzanegan, Jagannathan Sarangapani IEEE Conference on Control Technology and Applications (CCTA), 2023 (Published) 📄 Paper |
 | Optimal Tracking of Nonlinear Discrete-time Systems using Zero-Sum Game Formulation and Hybrid Learning: Application to Robotic Manipulators Behzad Farzanegan, Jagannathan Sarangapani IEEE 2023 American Control Conference (ACC), 2023 (Published) 📄 Paper |
 | Optimal Adaptive Output Regulation of Uncertain Nonlinear Discrete-time Systems using Lifelong Concurrent Learning Rohollah Moghadam, Behzad Farzanegan, Jagannathan Sarangapani IEEE 61st Conference on Decision and Control (CDC), 2022 (Published) 📄 Paper |
 | An identification approach for unstable nonlinear systems with nonlinear parameterization using MRAC Behzad Farzanegan, Ebrahim Navid Sajadi and Mohammad Bagher Menhaj The 28th Iranian Conference on Electrical Engineering, 2020 (Published) 📄 Paper |
 | Observer-Based Sliding Mode Control for MEMS-based AC Voltage Reference Source Abolfazl Saadati Moghadam, Ehsan Ranjbar, Behzad Farzanegan, Mohammad Bagher Menhaj The 28th Iranian Conference on Electrical Engineering, 2020 (Published) 📄 Paper |
 | Sliding Mode Control for an Optimal MEMS Micromirror Actuator with Parameter Uncertainty Reza Naseri, Behzad Farzanegan, Amir Abolfazl Suratgar The 27th Iranian Conference on Electrical Engineering , 2019 (Published) 📄 Paper |
 | Direct Artificial Neural Network Control of Single-Link Flexible Joint Manipulator Behzad Farzanegan, Saman Dehghan Banadaki, Mohammad B. Menhaj The 4th International Conference on Control, Instrumentation, and Automation (Published) 📄 Paper |
 | Fault Detectability Condition of Networked Control System with Variable Network-Induced Delay Saman Dehghan Banadaki, Ahmad Afshar, Behzad Farzanegan The 4th International Conference on Control, Instrumentation, and Automation (Published) 📄 Paper |