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About

Hairong Zeng is a leading researcher in the control of hydraulic robotic systems, with a particular focus on precision tracking, friction compensation, and cooperative manipulation. Her most influential work, "Tracking Control of Hydraulic Actuators Using a LuGre Friction Model Compensation" (2008), has garnered 51 citations and addresses a critical challenge in hydraulically actuated robotics: achieving high-precision motion control despite highly nonlinear hydraulic dynamics and complex friction effects. By integrating the LuGre dynamic friction model into the controller design, Zeng demonstrated a robust approach to significantly improve tracking accuracy. Earlier, she developed a nonlinear stable control scheme for cooperative hydraulic manipulators handling unknown payloads (2005, 18 citations), enabling multiple robots to coordinately regulate an object’s position and orientation while maintaining specified load distribution. Her work on Dynamic Surface Control (2007) further advanced the field by incorporating friction compensation into cooperative tasks, ensuring smooth trajectory tracking and acceptable internal forces on manipulated objects. Zeng’s contributions are foundational for applications in heavy-duty robotics, construction, and manufacturing, where hydraulic actuators are essential. Her research continues to influence the design of more reliable and precise hydraulic robotic systems.