Author

Hang Zhong

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Preprint Sep 2026

AeRSoM: An Aerial Rigid-Soft Integrated Manipulator for Contact-Rich Manipulation

Contact-rich aerial manipulation remains fundamentally challenging because interaction forces are directly transmitted to the aerial platform, often leading to instability and degraded task performance. While compliant manipulators can mitigate these effects, existing aerial manipulation systems typically struggle to r...

Jia-Cheng Liang, Hang Zhong, Yao-Nan Wang et al. · 0 citations

Sep 2026

Hybrid Model-Based and Data-Driven Trajectory Tracking Control for Flapping-Wing Microaerial Vehicles.

Trajectory tracking for flapping-wing microaerial vehicles (FWMAVs) is challenging due to inherent nonlinear dynamics and unsteady aerodynamics. While incremental model predictive control (IMPC) effectively manages constraints, its reliance on fixed weighting matrices limits performance during aggressive maneuvers. Con...

Zhong-Qi Lu, Zhi-Jie Liu, Hang Zhong et al. · IEEE Transactions on Neural... · 0 citations

2026

A Singularity-Free Vector-Field-Based Framework for Safe Distributed Motion Coordination of Multirobot Systems

Guiding vector-field (GVF) methods provide effective solutions for manifold-following problems by generating smooth guidance signals that steer robots toward and navigate desired geometric manifolds. Recent advances in high-dimensional GVF design have successfully eliminated singularities that arise in classical formul...

Zheng Li, Yao-Nan Wang, Hang Zhong et al. · IEEE Transactions on robotic... · 0 citations