Ancai Zhang
Papers
5
Total Citations
79
H-Index
4
About
Ancai Zhang is a control systems researcher whose primary focus lies in the stabilization and trajectory control of underactuated robotic systems, particularly multi-link gymnast robots. His most significant contributions involve developing innovative strategies to swing up and stabilize complex underactuated mechanisms, such as the two-link, three-link, and four-link gymnast robots, which model a gymnast on a high bar. Zhang’s work on the three-link gymnast robot (25 citations) introduced a singularity-avoiding swing-up control using virtual coupling between control torques, while his trajectory tracking strategy for the two-link robot (32 citations) demonstrated robust stabilization. He also advanced robust tracking control for robot manipulators using only joint position measurements, addressing uncertainties and disturbances. More recently, Zhang contributed to hand-eye calibration with a complete analytical solution using quaternions and eigenvector-eigenvalue identity (2023, 3 citations). His research has garnered over 79 citations, reflecting its impact on nonlinear control theory and underactuated robotics. Zhang’s work is notable for its practical applications in robotics and automation, offering elegant solutions to challenging control problems.
Research Focus
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