Ehsan Khadem Olama

University of Bergamo, Petroleum University of Technology

Papers

Total Citations

H-Index

About

Ehsan Khadem Olama is a researcher whose work centers on advanced control strategies for robotic systems, with a particular focus on sliding mode control and robust performance optimization. His key contributions lie in developing output feedback sliding mode controllers that achieve H₂ performance for uncertain robot manipulators, enabling precise position control without the need for joint velocity measurements—a significant practical advantage. He has also extended these robust control techniques to nonholonomic mobile robots, designing sliding mode controllers with generalized H₂ performance for trajectory tracking in unicycle-like platforms. Additionally, Olama has contributed to the robotics community through the creation of a symbolic kinematic and dynamic modelling toolbox for multi-DOF manipulators, providing a practical resource for simulation and control design in MATLAB. While his most-cited papers each have 2 citations, his work represents a focused effort to bridge theoretical control theory with real-world robotic applications, particularly in handling system uncertainties and improving tracking performance. His research is valuable for students and engineers interested in robust control, sliding mode techniques, and the practical implementation of advanced controllers in robotic systems.