Publications by Zhihao He There are ... items referenced. Alternative author names: Zhihao He. 2022 -- Yuliang Shang, Haisheng Yu, Zhihao He, Congcong Yue, Kejia Yan, Anxing LiuCooperative Control of Backstepping Neural Network and Port-Controlled Hamiltonian for Robot System 2022 -- Zhihao He, Haisheng Yu, Yuliang Shang, Kejia Yan, Congcong YueAverage Compensation Control of Multiple Motors Based on Sliding Mode and Port-Controlled Hamiltonian