Zhang Feitian

Associate Professor, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University

Email: feitianpku.edu.cn

Curriculum Vitae 

Biography

Feitian Zhang is an Associate Professor in the Department of Advanced Manufacturing and Robotics at Peking University. He received the Bachelor's and Master's degrees in Automatic Control from Harbin Institute of Technology, Harbin, China, in 2007 and 2009, respectively, and the Ph.D. degree in Electrical and Computer Engineering from Michigan State University, East Lansing, MI, in 2014. From 2014 to 2016, he was a Postdoctoral Research Associate in the Department of Aerospace Engineering and Institute for Systems Research at University of Maryland. Prior to joining Peking University, he was an Assistant Professor in the Department of Electrical and Computer Engineering at George Mason University (GMU), Fairfax, VA, and the founding director of the Bioinspired Robotics and Intelligent Control Laboratory (BRICLab) from 2016 to 2021. His research interests include Bioinspired Robotics, Control Systems, Artificial Intelligence, Underwater Vehicles, and Aerial Vehicles.

Announcements

Dr. Zhang is actively hiring postdocs in robotics and controls. To apply, please send your resume and (unofficial) transcripts to Zhang at feitianpku.edu.cn

Publications

Books

G. Cook and F. Zhang, "Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs," Wiley-IEEE Press, 2020

Journal Articles

S. K. Rajendran, and F. Zhang, "Design, Modeling, and Visual Learning-based Control of Soft Robotic Fish Driven by Super-coiled Polymers," Frontiers in Robotics and AI, 8(Soft Robotics):809427, 2022

S. K. Rajendran, Q. Wei, and F. Zhang, “Two Degree-of-freedom Robotic Eye: Design, Modeling, and Learning-based Control in Foveation and Smooth Pursuit,” Bioinspiration & Biomimetics, 16(4):046022, 2021

F. Dang, S. Nasreen, and F. Zhang, “DMD-Based Background Flow Sensing for AUVs in Flow Pattern Changing Environments,” IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5207-5214, 2021

F. Dang, F. Zhang, "Distributed Flow Estimation for Autonomous Underwater Robots Using POD-based Model Reduction," Journal of Dynamic Systems, Measurement, and Control, Special issue on Unmanned Mobile Systems, 141.7 (2019): 071010

F. Zhang, O. Ennasr, and X. Tan, "Gliding Robotic Fish: An Underwater Sensing Platform and Its Spiral-Based Tracking in 3D Space," Marine Technology Society Journal, vol. 51, no. 5, pp. 71-78, 2017

F. Zhang, F. Lagor, H. Lei, X. Tan, D. Paley, ''Robotic Fish: Flow-relative Control Behaviors Using Distributed Flow Sensing'', ASME Dynamic Systems and Control Magazine (insert of Mechanical Engineering Magazine), 138(3): S2-S5, March 2016. Special Issue on Bio-inspired Systems

F. Zhang, O. Ennasr, E. Litchman, and X. Tan, ''Autonomous sampling of water columns using gliding robotic fish: Algorithms and harmful algae-sampling experiments,'' IEEE Systems Journal, Special issue on Cyber-innovated Environmental Sensing, Monitoring and Modeling for Sustainability, vol. 10, no. 3, pp. 1271-1281, 2016

F. Zhang, F. Lagor, D. Yeo, P. Washington, and D. Paley, ''Distributed Flow Sensing for Closed-loop Speed Control of a Flexible Fish Robot,'' Bioinspiration & Biomimetics, Special issue on Bio-inspired Soft Robotics, 10(6): 065001, 2015

F. Zhang, X. Tan,''Passivity-based stabilization of underwater gliders with a control surface,'' Journal of Dynamic Systems, Measurement, and Control, 137.6 (2015): 061006

F. Zhang, F. Zhang, X. Tan, ''Tail-enabled spiraling maneuver for gliding robotic fish,'' Journal of Dynamic Systems, Measurement, and Control, 136.4 (2014): 041028

F. Zhang, J. Thon, C. Thon, X. Tan, ''Miniature underwater glider: Design and experimental results,'' IEEE/ASME Transactions on Mechatronics, vol. 19, no. 1, pp. 394-399, 2014

Conference Articles

J. Wang, T. Shen, D. Zhao, and F. Zhang, "Flow Sensing-Based Underwater Target Detection Using Distributed Mobile Sensors," the 61st IEEE Conference on Decision and Control (CDC), Cancun, Mexico, pp. 2681-2687, 2022

S. Rajendran, Q. Wei, N. Yao, and F. Zhang, "Observability Analysis and Reduced-Order Observer Design for a Super-Coiled Polymer-Driven Robotic Eye," the 61st IEEE Conference on Decision and Control (CDC), Cancun, Mexico, pp. 1385-1391, 2022

S. Rajendran, Q. Wei, N. Yao, and F. Zhang, "Modeling and Learning-Based Control for Super-Coiled Polymer-Driven Robotic Eye," 2022 American Control Conference (ACC), Poster Paper, 2022

F. Dang, S. Nasreen, F. Zhang, "A Novel FFT-Assisted Background Flow Sensing Framework for Autonomous Underwater Vehicles In Dynamic Environment with Changing Flow Patterns,'' 2020 IEEE International Conference on Systems, Man and Cybernetics (SMC), Toronto, Canada, pp. 336--341, 2020

F. Dang, S. Nasreen, and F. Zhang, "Background Flow Sensing for Autonomous Underwater Vehicles Using Model Reduction with Dynamic Mode Decomposition," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, pp. 125-131, 2020

F. Dang and F. Zhang, ''Distributed Flow Estimation for Autonomous Underwater Robots Using POD-based Model Reduction,'' the 57rd IEEE Conference on Decision and Control (CDC), Miami Beach, FL, pp. 4453-4458, 2018

S. Rajendran and F. Zhang, ''Learning Based Speed Control of Soft Robotic Fish,'' 2018 ASME Dynamic Systems and Control Conference (DSCC), Atlanta, GA, Paper DSCC2018-8977 (7 pp), 2018

S. Rajendran, Q. Wei, and F. Zhang, ''Foveation Control of a Robotic Eye Using Deep Reinforcement Learning,'' 2018 ASME Dynamic Systems and Control Conference (DSCC), Atlanta, GA, Paper DSCC2018-9209 (7 pp), 2018

F. Dang and F. Zhang, ''DMD-Based Distributed Flow Sensing For Bio-Inspired Autonomous Underwater Robots,'' 2018 ASME Dynamic Systems and Control Conference (DSCC), Atlanta, GA, Paper DSCC2018-9113 (8 pp), 2018

S. Rajendran and F. Zhang, ''Developing A Novel Robotic Fish With Antagonistic Artificial Muscle Actuators,'' 2017 ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, VA, Paper 2017-5380 (7 pp), 2017

F. Dang and F. Zhang, ''Identification of Hydrodynamic Coefficients of a Robotic Fish Using Improved Extended Kalman Filter,'' 2017 ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, VA, Paper 2017-5385 (9 pp), 2017

F. Zhang, P. Washington, D. Paley, ''A Flexible, Reaction-Wheel-Driven Fish Robot: Flow Sensing and Flow-Relative Control'', Proceedings of the 2016 American Control Conference (ACC), Boston, MA, pp. 1221-1226, 2016

F. Zhang, F. Lagor, D. Yeo, P. Washington, and D. Paley, ''Distributed flow sensing using Bayesian estimation for a flexible fish robot'', 2015 ASME Dynamic Systems and Control Conference (DSCC), Columbus, OH, Paper 2015-9732 (10 pp), 2015

F. Zhang, O. Ennasr, E. Litchman, and X. Tan, ''Autonomous sampling of water columns using gliding robotic fish: Control algorithms and field experiments,'' Proceedings of the 2015 IEEE Conference on Robotics and Automation (ICRA), Seattle, WA, pp. 517-522, 2015

F. Zhang and X. Tan, ''Three-dimensional spiral tracking control for gliding robotic fish,'' Proceedings of the 53rd IEEE Conference on Decision and Control (CDC), Los Angeles, CA, pp. 5340-5345, 2014

F. Zhang, J. Wang, J. Thon, C. Thon, E. Litchman, X. Tan, ''Gliding robotic fish for mobile sampling of aquatic environments,'' [Invited], Proceedings of 11th IEEE International Conference on Networking, Sensing and Control (ICNSC), Miami, FL, pp. 167-172, 2014

F. Zhang, X. Tan, ''Nonlinear observer design for stabilization of gliding robotic fish,'' Proceedings of the 2014 American Control Conference (ACC), Portland, OR, pp. 4175-4720, 2014

F. Zhang, X. Tan, ''Gliding robotic fish and its tail-enabled yaw motion stabilization using sliding mode control,'' Proceedings of the 2013 ASME Dynamic Systems and Control Conference (DSCC), Palo Alto, CA, Paper DSCC2013-4015 (10 pp), 2013

B. Tian, F. Zhang, X. Tan, ''Design and development of an LED-based optical communication system for underwater autonomous robots,'' Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, Australia, 1558-1563, 2013

F. Zhang, F. Zhang, X. Tan, ''Steady spiraling motion of gliding robotic fish,'' Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura Algarve, Portugal, pp. 1754-1759, 2012

F. Zhang, X. Tan, H. K. Khalil, ''Passivity-based controller design for stabilization of underwater gliders,'' Proceedings of the 2012 American Control Conference (ACC), Montreal, Canada, pp. 5408-5413, 2012

F. Zhang, J. Thon, C. Thon, X. Tan, ''Miniature underwater glider: Design, modeling, and experimental results,'' Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, pp. 4904-4910, 2012

A. T. Abdulsadda, F. Zhang, X. Tan, ''Localization of source with unknown amplitude using IPMC sensor arrays,'' Y. Bar-Cohen & F. Carpi, editors, Electroactive Polymer Actuators and Devices (EAPAD) XIII, Proc. of SPIE, vol. 7976, pp. 797627: 1-11, 2011