Kaixiang Zhang

Kaixiang Zhang

Assistant Professor (fixed-term), Department of Mechanical Engineering

Research

Agricultural Robotic Systems for Efficient Apple Harvesting

Selected Publications

A Modular Dual-Arm Apple Harvesting Robot with Enhanced Field Performance
K. Zhu, K. Lammers, C. Arunachalam, K. Zhang, R. Lu, Z. Li
arXiv, 2026
[Paper]
Development and Evaluation of a Dual-Arm Robotic Apple Harvesting System
K. Lammers, K. Zhang, K. Zhu, P. Chu, Z. Li, R. Lu
Computers and Electronics in Agriculture, 2024
[Paper]
An Automated Apple Harvesting Robot – From System Design to Field Evaluation
K. Zhang, K. Lammers, P. Chu, Z. Li, R. Lu
Journal of Field Robotics, 2024
[Paper]
Algorithm Design and Integration for a Robotic Apple Harvesting System
K. Zhang, K. Lammers, P. Chu, N. Dickinson, Z. Li, R. Lu
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
[Paper]
System Design and Control of an Apple Harvesting Robot
System Design and Control of an Apple Harvesting Robot
K. Zhang, K. Lammers, P. Chu, Z. Li, R. Lu
Mechatronics, 2021
[Paper]

Efficient Data-Enabled Predictive Control for Autonomous Systems

Selected Publications

Velocity-Form Data-Enabled Predictive Control of Soft Robots Under Unknown External Payloads
Velocity-Form Data-Enabled Predictive Control of Soft Robots Under Unknown External Payloads
H. Wang, K. Zhang, K. Lee, Y. Mei, V. Srivastava, J. Sheng, Z. Song, Z. Li
IEEE Robotics and Automation Letters, 2026
[Paper]
Data-Enabled Neighboring Extremal: Case Study on Model-Free Trajectory Tracking for Robotic Arm
A. Vahidi-Moghaddam, K. Zhu, K. Zhang, Z. Song, Z. Li
IEEE Transactions on Control Systems Technology, 2026
[Paper]
Mechanical Design and Data-Enabled Predictive Control of a Planar Soft Robot
H. Wang, K. Zhang, K. Lee, Y. Mei, K. Zhu, V. Srivastava, J. Sheng, Z. Li
IEEE Robotics and Automation Letters, 2024
[Paper]
Dimension Reduction for Efficient Data-Enabled Predictive Control
Dimension Reduction for Efficient Data-Enabled Predictive Control
K. Zhang, Y. Zheng, C. Shang, Z. Li
IEEE Control Systems Letters, 2023
[Paper]

Cloud/Distributed Control for Privacy-Critical Systems

Selected Publications

Differentially-Private Distributed Model Predictive Control of Linear Discrete-Time Systems with Global Constraints
Differentially-Private Distributed Model Predictive Control of Linear Discrete-Time Systems with Global Constraints
K. Zhang, Y. Wang, Z. Song, Z. Li
IEEE Transactions on Automatic Control, 2026
[Paper]
Privacy-Preserving Nonlinear Cloud-Based Model Predictive Control via Affine Masking
Privacy-Preserving Nonlinear Cloud-Based Model Predictive Control via Affine Masking
K. Zhang, Z. Li, Y. Wang, N. Li
Automatica, 2025
[Paper]
Privacy-Preserving Data-Enabled Predictive Leading Cruise Control in Mixed Traffic
Privacy-Preserving Data-Enabled Predictive Leading Cruise Control in Mixed Traffic
K. Zhang, K. Chen, Z. Li, J. Chen, Y. Zheng
IEEE Transactions on Intelligent Transportation Systems, 2024
[Paper]
Cloud-Assisted Nonlinear Model Predictive Control for Finite-Duration Tasks
Cloud-Assisted Nonlinear Model Predictive Control for Finite-Duration Tasks
N. Li, K. Zhang, Z. Li, V. Srivastava, X. Yin
IEEE Transactions on Automatic Control, 2023
[Paper]
Privacy-Preserving Dynamic Average Consensus via State Decomposition: Case Study on Multi-Robot Formation Control
Privacy-Preserving Dynamic Average Consensus via State Decomposition: Case Study on Multi-Robot Formation Control
K. Zhang, Z. Li, Y. Wang, A. Louati, J. Chen
Automatica, 2022
[Paper]

Machine Vision-Based Robotic Control With Guaranteed Stability

Selected Publications

Visual Trajectory Tracking of Wheeled Mobile Robots With Uncalibrated Camera Extrinsic Parameters
Visual Trajectory Tracking of Wheeled Mobile Robots With Uncalibrated Camera Extrinsic Parameters
K. Zhang, J. Chen, G. Yu, X. Zhang, Z. Li
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021
[Paper]
Visual Tracking and Depth Estimation of Mobile Robots Without Desired Velocity Information
Visual Tracking and Depth Estimation of Mobile Robots Without Desired Velocity Information
K. Zhang, J. Chen, Y. Li, X. Zhang
IEEE Transactions on Cybernetics, 2020
[Paper]
Trifocal Tensor-Based 6 DOF Visual Servoing
K. Zhang, F. Chaumette, J. Chen
International Journal of Robotics Research, 2019
[Paper]
Unified Visual Servoing Tracking and Regulation of Wheeled Mobile Robots With an Uncalibrated Camera
K. Zhang, J. Chen, Y. Li, Y. Gao
IEEE/ASME Transactions on Mechatronics, 2018
[Paper]
Trifocal Tensor-Based Adaptive Visual Trajectory Tracking Control of Mobile Robots
J. Chen, B. Jia, K. Zhang
IEEE Transactions on Cybernetics, 2017
[Paper]