Publications

Journal Publications

S. Tian, M. Zheng and X. Liang, “TransFusion: A Practical and Effective Transformer-Based Diffusion Model for 3D Human Motion Prediction,” in IEEE Robotics and Automation Letters, vol. 9, no. 7, pp. 6232-6239, July 2024.

M.L. Lee, X. Liang, B. Hu, G. Onel, S. Behdad, and M. Zheng, “A review of prospects and opportunities in disassembly with human–robot collaboration,” Journal of Manufacturing Science and Engineering, 146(2), 2024.

H. Modi, Z. Chen, X. Liang and M. Zheng, “Improving Disturbance Estimation and Suppression via Learning Among Systems With Mismatched Dynamics,” in IEEE Robotics and Automation Letters, vol. 9, no. 6, pp. 5238-5245, June 2024.

K.Eltouny, W. Liu, S. Tian, M. Zheng, and X. Liang. “DE-TGN: Uncertainty-aware human motion forecasting using deep ensembles,” IEE Robotics and Automation Letters, 2024.

S. Zhang, J. Zhu, T.H. Huang, S. Yu, J.S. Huang, I. Lopez-Sanchez, T. Devine, M. Abdelhady, M. Zheng, T.C. Bulea, and H. Su, “Actuator optimization and deep learning-based control of pediatric knee exoskeleton for community-based mobility assistance,” Mechatronics, 97, p.103109, 2024.

W. Liu, C. Liu, H. Su, X. Liang, and M. Zheng, “An audio-based risky flight detection framework for quadrotors,” IET Cyber-Systems and Robotics, 6(1), 2024.

X. Zhang, S. Tian, X. Liang, M. Zheng, and S. Behdad, “Early Prediction of Human Intention for Human–Robot Collaboration Using Transformer Network,” Journal of Computing and Information Science in Engineering, 24(5), 2024.

Conference Papers

Wansong Liu, Sibo Tian, Boyi Hu, Xiao Liang, and M. Zheng, “A Recurrent Neural Network Enhanced Unscented Kalman Filter for Human Motion Prediction,” International Symposium on Flexible Automation (ISFA) 2024.

Journal Publications

W.Liu, X. Liang, and M. Zheng, “Task-constrained motion planning considering uncertainty informed human motion prediction for human robot collaborative disassembly,” IEEE/ASME Transactions on Mechatronics, 28(4), 2056-2063, 2023. (Presented at 2023 IEEE/ASME
International Conference on Advanced Intelligent Mechatronics and selected as the best student paper finalist).

Z. Chen, C. Liu, H. Su, X. Liang, and M. Zheng, “A hybrid disturbance observer for delivery drone’s oscillation suppression,” Mechatronics, accepted.

R. Adlakha, W. Liu, S. Chowdhury, M. Zheng, and M. Nouh, “Integration of acoustic compliance in indoor path planning for drones in human-robot collaborative environments,” Journal of Vibration and Control, accepted.

Conference Papers

X. Zhang, S. Tian, X. Liang, M. Zheng, and S. Behdad, “Early Prediction of Human Intention For Human-Robot Collaboration Using Transformer Network,” ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE) 2023.

Journal Publications

M. Lee, W. Liu, S. Behdad, X. Liang, and M. Zheng, “Robot-assisted disassembly sequence planning with real-time human motion prediction,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2022, early access.

M. Hajidavalloo, Z. li, X. Xia, M. Zheng, and W. Zhuang, “Cloud-assisted collaborative road information discovery with Gaussian process: Application to Road Profile Estimation,” IEEE Transactions on Intelligent Transportation Systems, 2022, early access.

W. Liu, X. Liang, and M. Zheng, “Dynamic model informed human motion prediction based on unscented Kalman filter,” IEEE/ASME Transactions on Mechatronics, 2022, early access.

Z. Chen, M. Hajidavalloo, Z. li, and M. Zheng, “A cascaded learning framework for road profile estimation using multiple heterogeneous vehicles,” ASME Journal of Dynamic Systems, Measurement and Control, 2022; 144(10): 104501.

T. Huang, S. Zhang, S. Yu, M. MacLean, J. Zhu, A.D. Lallo, C. Jiao, T. Bulea, M. Zheng, and H. Su, “Modeling and stiffness-based continuous torque control of lightweight quasidirect-drive knee exoskeletons for versatile walking assistance,” IEEE Transactions on Robotics, vol. 38, no. 3, pp. 1442-1459, 2022.

M. Lee, S. Behdad, X. Liang, and M. Zheng, “Task allocation and planning for product disassembly with human-robot collaboration,” Robotics and Computer-Integrated Manufacturing, vol 76, pp. 102306, 2022.

S.O. Sajedi, W. Liu, K. Eltouny, M. Zheng, and X. Liang, “Uncertainty-assisted imageprocessing for human-robot close collaboration,” IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 4236-4243, 2022.

Z. Xia, M. Su, Z. Liu, M. Zheng, X. Zhang and P. Wang, “Feasible power-flow solution analysis of DC microgrid considering distributed generations under MPPT control,” IEEE Transactions on Smart Grid, vol. 13, no. 1, pp. 139-148, 2022.

Z. Liu, M. Su, Y. Sun, X. Zhang, X. Liang, and M. Zheng, “A comprehensive study on existence and stability of equilibria of DC distribution with constant power loads,” IEEE CV, Minghui. Zheng – 3/13 Transactions on Automatic Control, vol. 67, no. 4, pp. 1988-1995, 2022.

Z. Chen, X. Liang, and M. Zheng, “Iterative learning for heterogeneous systems,” IEEE/ASME Transactions on Mechatronics, vol. 27, no. 3, pp. 1510-1521, 2022.

Conference Papers

S. Tian, X. Liang, and M. Zheng, “An Optimization-Based Human Behavior Modeling and Prediction for Human-Robot Collaborativ Disassembly,” American Control Conference (ACC), pp. 3356-3361, 2022.

Z. Chen, X. Liang, and M. Zheng, “A new iterative learning control algorithm for final error reduction,” Modeling, Estimation and Control Conference (MECC), Jersey City, NJ, 2022.

C. Liu, W. Liu, X. Liang, and M. Zheng, “A deep-ConvLSTM collision prediction model for manipulators in dynamic environment,” The joint 9th IFAC Symposium on CV, Minghui. Zheng – 5/13 Mechatronic Systems and 16th International Conference on Motion and Vibration Control (MoViC), Los Angeles, CA, 2022.

H. Liao, M. Zheng, B. Hu, S. Behdad, “Human hand motion prediction in disassembly operations,” International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC-CIE), St. Louis, Missouri, 2022.

X. Wei, K. Xu, W. Liu, E. Mountain, X. Liang, and M. Zheng, “A novel lightweight cable driven integrated-finger robotic hand for dexterous manipulation,” American Control Conference (ACC), Atlanta, GA, 2022.

Journal Publications

R. Adlakha and M. Zheng, “A two-step optimization-based iterative learning control for UAVs,” Journal of Dynamic Systems, Measurement, and Control, 143(7): 071006, 2021.

M. Zheng, X. Lv, X. Liang, and F. Zhang, “A generalized design method for learningbased disturbance observer,” IEEE/ASME Transactions on Mechatronics, vol. 26, no. 1, pp. 45-54, 2021.

G. Shi, H. Han, Y. Sun, Z. Liu, M. Zheng, and X. Hou, “A decentralized SOC balancing method for cascaded-type energy storage system,” IEEE Transactions on Industrial Electronics, vol. 68, no. 3, pp. 2321-2333, 2021.

Conference Papers

S. Sivashangaran and M. Zheng, “Intelligent autonomous navigation of car-like unmanned ground vehicle via deep reinforcement learning,” Modeling, Estimation and Control Conference (MECC), Austin, UT, 2021.

S. Hu, X. Zhang, H. Liao, X. Liang, M. Zheng, and S. Behdad “Deep learning and machine learning techniques to classify electrical and electronic equipment,” International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC-CIE), 2021.

Z. Chen, X. Liang, and M. Zheng, “Deep iterative learning control for quadrotor’s trajectory tracking,” American Control Conference (ACC), New Orleans, LA, 2021.

V. Suresh, W. Liu, M. Zheng, and B. Li, “High-resolution structured light 3D vision for fine-scale characterization to assist robotic assembly,” Dimensional Optical Metrology and Inspection for Practical Applications X, vol. 11732, p. 1173203, 2021.

Journal Publications

Z. Chen, X. Liang and M. Zheng, “Knowledge transfer between different UAVs for trajectory tracking,” IEEE Robotics and Automation Letters, vol 5, no. 3, pp. 4939-4946, 2020.

F. Zhang and M. Zheng, “Automatic kinematic calibration of multi-axis gimbal systems,” IEEE/ASME Transactions on Mechatronics, vol. 25, no. 6, pp. 2858-2869, 2020.

Conference Papers

Z. Chen, X. Liang, and M. Zheng, “Including image-based perception in disturbance observer for warehouse drones,” Dynamic Systems and Control Conference (DSCC), Pittsburgh, PA, 2020.(*Best student paper in vibrations, ASME Dynamic Systems and Control Division).

M. Lee, S. Behdad, X. Liang, and M. Zheng, “Disasembly sequence planning consider human-robot collaboration,” A real-time receding horizon sequence planner for disassembly in a human-robot collaboration setting (ISFA), Chicago, IL, 2020.

W. Liu, Z. Chen, and M. Zheng, “An audio-based fault diagnosis method for quadrotors using convolutional neural network and transfer learning,” American Control Conference (ACC), Denver, CO, 2020.

W. Liu, D. Luo, C. Wu, and M. Zheng, “Vehicle-human interactive behaviors in emergency: data extraction and analysis from traffic accident videos,” American Control Conference (ACC), Denver, CO, 2020.

R. Adlakha and M. Zheng, “An optimization-based iterative learning control design method for UAVs’ trajectory tracking,” American Control Conference (ACC), Denver, CO, 2020.

M. Lee, S. Behdad, X. Liang, and M. Zheng, “Disassembly sequence planning consider human-robot collaboration,” American Control Conference (ACC), Denver, CO, 2020.

Editorials

J. Tang, X. Chen, Y. Gu, M. Zheng, “Introduction to the focused section on machine learning, estimation and control for intelligent robotics,” International Journal of Intelligent Robotics and Applications, vol. 4, no. 4, pp. 375-377, 2020.

Journal Publications

M. Zheng and M. Tomizuka, “A frequency-shaping methodology for discrete-time sliding mode control,” International Journal of Control, vol. 92, no. 7, pp. 1662-1671, 2019.

J. Alcaina, A. Cuenca, J. Salt, M. Zheng, and M. Tomizuka, “Energy-efficient control for an unmanned ground vehicle in a wireless sensor network,” Journal of Sensors, vol. 2019, pp.1-16, 2019.

H. Wang, Y. Zhang, Y. Sun, M. Zheng, X. Liang, G. Zhang, K. Tan, and J. Feng, “Topology and control method of a single-cell matrix-type solid state transformer,” IEEE Journal of Emerging and Selected Topics in Power Electronics, vol. 8, no. 3, pp. 2302-2312, 2019.

L. Li, Y. Sun, H. Han, G. Shi, M. Su, and M. Zheng, “A decentralized control for cascaded inverters in grid-connected applications,” IEEE Transactions on Industrial Electronics, vol. 67, no. 9, pp. 8064-8071, 2019.

Z. Liu, M. Su, Y. Sun, L. Li, H. Han, X. Zhang, and M. Zheng, “Optimal criterion and global/sub-optimal control schemes of decentralized economical dispatch for ac microgrid,” International Journal of Electrical Power & Energy Systems, vol. 104, pp. 38-42, 2019.

Y. Liu, L. Guan, C. Hou, H. Han, Z. Liu, Y. Sun, and M. Zheng, “Wind power short-term prediction based on LSTM and discrete wavelet transform,” Applied Sciences, vol. 9, no. 6, p. 1108, 2019.

J. Xu, J. Yang, G. Xu, T. Jiang, M. Su, Y. Sun, H. Wang, and M. Zheng, “PWM modulation and control strategy for LLC-DCX converter to achieve bidirectional power flow in facing with resonant parameters variation,” IEEE Access, vol. 7, pp. 54693-54704, 2019.

Y. Liu, M. Su, F. Liu, M. Zheng, X. Liang, G. Xu, and Y. Sun, “Single-phase inverter with wide input voltage and power decoupling capability,” IEEE Access, vol. 7, pp. 16870-16879, 2019. CV, Minghui. Zheng – 4/13.

Conference Papers

M. Zheng, Z. Chen, and X. Liang, “A preliminary study on a physical model oriented learning algorithm with application to UAVs,” in Dynamic System and Control Conference (DSCC), Park City, Utah, 2019.

Z. Li, M. Zheng, and H. Zhang, “Optimization-based unknown input observer for road profile estimation with experimental validation on a suspension station,” American CV, Minghui. Zheng – 6/13 Control Conference (ACC), Philadelphia, PA, 2019.

X. Liang and M. Zheng, “Estimation of rail vertical profile using an H-infinity based optimization with learning,” ASME Joint Rail Conference (JRC), Snowbird, UT, 2019.

Journal Publications

M. Zheng, F. Zhang, and X. Liang, “A systematic design framework for iterative learning control with current feedback,” IFAC Journal of Systems and Control, vol. 5, pp. 1-10, 2018.

X. Liang, M. Zheng, and F. Zhang, “A scalable model-based learning algorithm with application to UAVs,” IEEE Control Systems Letters, vol. 2, no. 4, pp. 839-844, 2018.

Á. Cuenca, M. Zheng, M. Tomizuka, and S. Sánchez, “Non-uniform multi-rate estimator based periodic event-triggered control for resource saving,” Information Sciences, vol. 459, pp. 86-102, 2018.

C. Wang, M. Zheng, Z. Wang, C. Peng, and M. Tomizuka, “Robust iterative learning control for vibration suppression of industrial robot manipulators,” Journal of Dynamic Systems, Measurement, and Control, vol. 140, no. 1, p. 011003, 2018.

L. Li, Y. Sun, Z. Liu, X. Yuan, M. Su, X. Hou, and M. Zheng, “A series-parallel PV storage independent microgrid and its decentralized control,” International Transactions on Electrical Energy Systems, e2715, 2018.

Y. Liu, Q. Liu, C. Lv, M. Zheng, and X. Ji, “A study on objective evaluation of vehicle steering comfort based on driver’s electromyogram and movement trajectory,” IEEE Transactions on Human-Machine Systems, vol. 48, no. 1, pp. 41-49, 2018.

B. Ma, C. Lv, Y. Liu, M. Zheng, Y. Yang, and X. Ji, “Estimation of road adhesion coefficient based on tire aligning torque distribution,” Journal of Dynamic Systems, Measurement, and Control, vol. 140, no. 5, p. 051010, 2018.

Conference Papers

H. Nejadkhaki, J. Hall, M. Zheng, T. Wu, “Integrative modeling platform to study design and control of an adaptive wind turbine blade,” Dynamics and Control Systems Conference (DSCC), Atlanta, GA, 2018.

S. Zhou, M. Zheng, F. Zhang, and M. Tomizuka†, “Synthesized disturbance observer for vehicle lateral disturbance rejection,” American Control Conference (ACC), Milwaukee, WI, 2018.

X. Lyu, M. Zheng, and F. Zhang, “H-infinity based disturbance observer design for nonminimum phase systems with application to UAV attitude control,” American Control Conference (ACC), Milwaukee, WI, 2018.

Journal Publications

M. Zheng, C. Wang, L. Sun, and M. Tomizuka, “Design of arbitrary-order robust iterative learning control based on robust control theory,” Mechatronics, vol. 47, pp. 67-76, 2017.

Conference Papers

Y. Fan, L. Sun, M. Zheng, W. Gao, and M. Tomizuka, “Robust dexterous manipulation under object dynamics uncertainties,” IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, Germany, 2017. (*Best conference paper finalist).

S. Zhou, M. Zheng, X. Chen, and M. Tomizuka, “Control of dual-stage HDDs with enhanced repetitive disturbance rejection,” ASME Conference on Information Storage and Processing Systems (ISPS), San Francisco, CA, 2017.

S. Zhou, Y. Wang, M. Zheng, and M. Tomizuka, “A hierarchical planning and control framework for structured highway driving,” 20th World Congress of the International Federation of Automatic Control, Toulouse, France, 2017.

M. Zheng, S. Zhou, and M. Tomizuka, “Identification of resonance frequencies in dual-stage hard disk drives: A practical strategy,” ASME Dynamic Systems and Control Conference (DSCC), Virginia, USA, 2017.

M. Zheng, S. Zhou, and M. Tomizuka, “A design methodology for disturbance observer with application to precision motion control: an H-infinity based approach,” American Control Conference (ACC), Seattle, WA, 2017.

Patents

M. Zheng, M. Tomizuka, X. Chen, W. Xi, and G. Guo, “Data storage devices and methods with frequency-shaped sliding mode control,” US Patent US9,542,966, Jan. 2017.

Conference Papers

C. Wang, M. Zheng, W. Zining, and M. Tomizuka, “Robust two-degree-of-freedom iterative learning control for flexibility compensation of industrial robot manipulators,” International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.

M. Zheng, C. Wang, L. Sun, and M. Tomizuka, “Arbitrary-order iterative learning control considering H-infinity synthesis,” ASME Dynamic Systems and Control Conference (DSCC), Minneapolis, MN, 2016. (*Best student paper finalist).

M. Zheng and M. Tomizuka, “Discrete-time H-infinity synthesis of frequency-shaped sliding mode control for suppression of vibration with multiple peak frequencies,” ASME Dynamic Systems and Control Conference (DSCC), Minneapolis, MN, 2016.

S. Zhou, M. Zheng, and M. Tomizuka, “A generalized anti-windup scheme considering amplitude and rate saturations,” ASME Dynamic Systems and Control Conference (DSCC), Minneapolis, MN, 2016.

M. Zheng and M. Tomizuka, “Adaptive frequency-shaped sliding mode control for narrow-band disturbance rejection,” IEEE International Conference on Advanced CV, Minghui. Zheng – 7/13 Intelligent Mechatronics (AIM), Alberta, Canada, 2016.

M. Zheng, X. Chen, and M. Tomizuka, “Extended state observer with phase compensation to estimate and suppress high-frequency disturbances,” American Control Conference (ACC), Boston, MA, 2016.

M. Zheng, L. Sun, and M. Tomizuka, “Multi-rate observer based sliding mode control with frequency shaping for vibration suppression beyond nyquist frequency,” 7th IFAC Symposium on Mechatronic Systems (MECHATRONICS), Leicestershire, UK, 2016.

Patents

M. Zheng, X. Chen, H. Wang, Y.-H. Kim, W. Xi, and K.-Y. Tu, “Data storage device comprising slew rate anti-windup compensation for microactuator,” US Patent US9,007,714, Apr. 2015.

Conference Papers

M. Zheng, X. Chen, and M. Tomizuka, “Discrete-time frequency-shaped sliding mode control for audio vibration rejection in hard disk drives,” 19th World Congress of the International Federation of Automatic Control, Cape Town, South Africa, 2014.

M. Zheng, X. Chen, and M. Tomizuka, “A nonlinear feedback control scheme for transient performance enhancement in hard disk drives,” ASME Conference on Information Storage and Processing Systems (ISPS), Santa Clara, CA, 2014.

Journal Publications

M. Zheng, Q. Zhan, J. Liu, and Y. Cai, “Control of a spherical robot: Path following based on nonholonomic kinematics and dynamics,” Chinese Journal of Aeronautics, vol. 24, no. 3, pp. 337-345, 2011.

Conference Papers

M. Zheng, Q. Zhan, J. Liu, and C. Yao, “Trajectory tracking of a spherical robot based on an RBF neural network,” Advanced Materials Research, vol. 390, pp. 631-637, 2011.