Welcome to Feitian Zhang's Homepage

Feitian Zhang, Ph.D. (Curriculum Vitae | Google Scholar Profile | Bilibili Videos)
Associate Professor and Director of Robotics and Control Laoratory (RCL)
School of Advanced Manufacturing and Robotics, Peking University
Phone: +86-10-62768680, Email: feitian@pku.edu.cn

Biography

Feitian Zhang (张飞天) is an Associate Professor and Director of Robotics and Control Laboratory (RCL) in the School 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 feitian@pku.edu.cn.

Publications

Books

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

Journal Articles

  1. H. Cheng and F. Zhang, "RGBlimp-Q: Robotic Gliding Blimp With Moving Mass Control Based on a Bird-Inspired Continuum Arm," IEEE Transactions on Robotics, accepted 
  2. J. Tao, Y. Zhang, S. K. Rajendran, and F. Zhang, "An Efficient Learning Control Framework with Sim-to-Real for String-Type Artificial Muscle-Driven Robotic Systems," IEEE/ASME Transactions on Mechatronics, doi: 10.1109/TMECH.2025.3592717, 2025
  3. J. Wang, T. Shen, D. Zhao, and F. Zhang, "Bioinspired Sensing of Undulatory Flow Fields Generated by Leg Kicks in Swimming," IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 13895-13906, 2025 (selected for presentation at IROS'25)
  4. Z. Sha, X. Wang, M. Yang, H. Lei and F. Zhang, "A Portable Autonomous Underwater Vehicle With Multi-Thruster Propulsion: Design, Development, and Vision-Based Tracking Control," IEEE Robotics and Automation Letters, vol. 10, no. 4, pp. 3046-3053, 2025 
  5. X. Wang, Z. Sha, F. Zhang, "Adaptive Integral Sliding Mode Control for Attitude Tracking of Underwater Robots With Large Range Pitch Variations in Confined Space," IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 979-986, 2025  (selected for presentation at ICRA'25)
  6. J. Wang, D. Zhao, Y. Zhao, F. Zhang and T. Shen, "Estimating the Lateral Motion States of an Underwater Robot by Propeller Wake Sensing Using an Artificial Lateral Line," IEEE/ASME Transactions on Mechatronics, vol. 30, no. 3, pp. 1787-1796, 2025 
  7. Y. Zhu, H. Cheng, F. Zhang, "Data-Driven Dynamics Modeling of Miniature Robotic Blimps Using Neural ODEs With Parameter Auto-Tuning," IEEE Robotics and Automation Letters, vol. 9, no. 12, pp. 10986-10993, 2024 (selected for presentation at ICRA'25)
  8. M. Yang, Z. Sha and F. Zhang, "A Multimodal Approach Based on Large Vision Model for Close-Range Underwater Target Localization," IEEE/ASME Transactions on Mechatronics, doi: 10.1109/TMECH.2024.3449090, 2024 (selected for presentation at AIM'25) 
  9. S. Lian and F. Zhang, "TDANet: Target-Directed Attention Network For Object-Goal Visual Navigation With Zero-Shot Ability," IEEE Robotics and Automation Letters, vol. 9, no. 9, pp. 8075-8082, 2024
  10. Y. Li, X. Bai, L. Xie, X. Wang, and F. Lu, F. Zhang, Y. Yan, and E. Yin, "Real-time Gaze Tracking via Head-eye Cues on Head Mounted Devices," IEEE Transactions on Mobile Computing, doi: 10.1109/TMC.2024.3425928, 2024
  11. L. Yue, D. Zhou, L. Xie, F. Zhang, Y. Yan and E. Yin, "Safe-VLN: Collision Avoidance for Vision-and-Language Navigation of Autonomous Robots Operating in Continuous Environments," IEEE Robotics and Automation Letters, vol. 9, no. 6, pp. 4918-4925, 2024 (selected for presentation at IROS'24)
  12. S. Lian and F. Zhang, "A Transferability Metric Using Scene Similarity and Local Map Observation for DRL Navigation," IEEE/ASME Transactions on Mechatronics, vol. 29, no. 6, pp. 4423-4433, 2024
  13. H. Cheng, Z. Sha, Y. Zhu and F. Zhang, "RGBlimp: Robotic Gliding Blimp - Design, Modeling, Development, and Aerodynamics Analysis," IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 7273-7280, 2023 (selected for presentation at IROS'24)
  14. S. K. Rajendran, N. Yao, Q. Wei, and F. Zhang, "Design, Implementation, and Observer-Based Output Control of a Super-Coiled Polymer-Driven Two Degree-of-Freedom Robotic Eye," IEEE Robotics and Automation Letters, vol. 8, no. 9, pp. 5958-5965, 2023
  15. 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
  16. 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
  17. 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
  18. 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): 07101
  19. 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
  20. 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
  21. 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
  22. 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
  23. 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
  24. 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
  25. 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

  1. L. Wang, M. Yang, S. Lian, and F. Zhang, "Real-Time Object Detection and Motion Estimation on UAVs with Onboard Edge Computing," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hangzhou, China, to appear
  2. H. Wang, H. Cheng, Y. Fan, and F. Zhang, "Wind Disturbance Compensation for Path-Following Control of Robotic Blimps Via Deep Reinforcement Learning," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hangzhou, China, to appear
  3. Y. Fan, H. Cheng, H. Wang, and F. Zhang, "Multi-Waypoint Navigation Control for Robotic Blimps Using Deep Reinforcement Learning," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hangzhou, China, to appear
  4. G. Qi, S. Lian, and F. Zhang, "Difference-Oriented Network for Enhanced Zero-Shot Object Goal Visual Navigation," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hangzhou, China, to appear 
  5. Y. Zhang and F. Zhang, "Dynamic Modeling and Motion Control of a TCA-Actuated Robotic Arm with Elbow and Wrist Joints," 2025 American Control Conference (ACC), Denver, CO, USA, to appear
  6. J. Tao, S. K. Rajendran, Y. Zhang, F. Zhang, "Efficient Learning and Control of String-Type Artificial Muscle Driven Robotic Systems", 2024 American Control Conference (ACC), Toronto, ON, Canada, pp. 981-987, 2024 
  7. J. Wang, T. Shen, D. Zhao, and F. Zhang, "MrDMD-Based Sensor Placement in Distributed Flow Estimation for the Design of the Artificial Lateral Line of an Underwater Robot," the 62nd IEEE Conference on Decision and Control (CDC), Marina Bay Sands, Singapore, pp. 4759-4765, 2023
  8. 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
  9. 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
  10. 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
  11. 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
  12. 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
  13. 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
  14. 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
  15. 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
  16. 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
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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
  22. 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
  23. 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
  24. 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 
  25. 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
  26. 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
  27. 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
  28. 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
  29. 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
  30. 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

Group Members

Current Students

  1. Xiaorui Wang 王晓睿 (PhD)
  2. Yunsong Zhang 张运嵩 (PhD)
  3. Yongjian Zhu 朱永健 (PhD)
  4. Jiyue Tao 陶继越 (PhD, co-advised)
  5. Yingxi Li 李迎熙 (PhD, co-advised) 
  6. Mingyang Yang  杨明阳 (PhD)
  7. Lu Yue 岳露 (PhD, co-advised)
  8. Liuyang Wang 王柳杨 (PhD)
  9. Hao Cheng  程淏 (PhD)
  10. Jun Wang 王俊 (PhD, co-advised)
  11. Yachun Shan 单雅淳 (MS)
  12. Hongwu Wang 王洪武 (MS)
  13. Yue Fan 樊玥 (MS)
  14. Zeyu Sha 沙泽宇 (MS)
  15. Guolei Qi 戚国磊 (BS) 
  16. Yusen Tao 陶宇森 (BS) 
  17. Tianlin Li 李天琳 (BS)

Former Graduate Students (since 2021)

  1. Shiwei Lian (MS, currently at BYD Company)  
  2. Sunil Kumar Rajendran (PhD, currently BSS Technologies Inc.)
  3. Fengying Dang (PhD, currently faculty at Michigan Technological University)

Last updated July 30, 2025