Publications

Here are some selected publications regarding Inverse Optimal Control (IOC), Distributed Optimization (DO), Multi-Agent System (MAS), Rehabilitation, and Simultaneous Localization and Mapping (SLAM).

Preprints

2026

  1. Traj. planning
    U-OBCA: Uncertainty-Aware Optimization-Based Collision Avoidance via Wasserstein Distributionally Robust Chance Constraints
    Zehao Wang, Yuxuan Tang, Han Zhang, and 2 more authors
    2026
    arXiv
  2. IOC
    Consistent inverse optimal control for infinite time-horizon discounted nonlinear systems under noisy observations
    Ziliang Wang, Axel Ringh, and Han Zhang
    2026
    arXiv

2025

  1. SLAM
    Terrain-Awared LiDAR-Inertial Odometry for Legged-Wheel Robots Based on Radial Basis Function Approximation
    Yizhe Liu, and Han Zhang
    2025
    arXiv
  2. Rehabilitation
    Design and Koopman Model Predictive Control of A Soft Exoskeleton Based on Origami-Inspired Pneumatic Actuator for Knee Rehabilitation
    Junxiang Wang, Han Zhang, Zehao Wang, and 3 more authors
    2025
    arXiv
  3. IOC
    Consistent inverse optimal control for discrete-time nonlinear stochastic systems
    Ziliang Wang, Han Zhang, and Axel Ringh
    2025
    arXiv

Journal articles

2026

  1. SLAM
    Registering the 4D Millimeter Wave Radar Point Clouds Via Generalized Method of Moments
    Xingyi Li, Han Zhang, Ziliang Wang, and 2 more authors
    Robotics and Autonomous Systems, 2026
    arXiv HTML

2025

  1. Traj. planning
    Optimization-Based Trajectory Planning for Tractor-Trailer Vehicles on Curvy Roads: A Progressively Increasing Sampling Number Method
    Zehao Wang, Han Zhang, Jingchuan Wang, and 1 more author
    IEEE Transactions on Intelligent Transportation Systems, 2025
    arXiv HTML
  2. Sys. Id.
    Recursive identification of nonlinear nonparametric systems under event-triggered observations
    Xiaotao Ren, Wenxiao Zhao, and Han Zhang
    Systems & Control Letters, 2025
    HTML

2024

  1. SLAM
    Error Dynamics in Affine Group Systems
    Xinghan Li, Jianqi Chen, Han Zhang, and 2 more authors
    IEEE Transactions on Automatic Control, 2024
    arXiv HTML
  2. IOC
    Statistically consistent inverse optimal control for discrete-time indefinite linear–quadratic systems
    Han Zhang, and Axel Ringh
    Automatica, 2024
    arXiv HTML
  3. IOC
    Inverse optimal control for averaged cost per stage linear quadratic regulators
    Han Zhang, and Axel Ringh
    Systems & Control Letters, 2024
    arXiv HTML

2023

  1. SLAM
    4D Radar-based Pose Graph SLAM with Ego-velocity Pre-integration Factor
    Xingyi Li, Han Zhang, and Weidong Chen
    IEEE Robotics and Automation Letters, 2023
    HTML
  2. IOC
    Inverse linear-quadratic discrete-time finite-horizon optimal control for indistinguishable homogeneous agents: A convex optimization approach
    Han Zhang, and Axel Ringh
    Automatica, 2023
    arXiv HTML
  3. Rehabilitation
    Nonlinear Observer-Based Visual Servoing and Vibration Control of Flexible Robotic Manipulators With a Fixed Camera
    Kai Li, Han Zhang, and Hesheng Wang
    IEEE Transactions on Cybernetics, 2023
    HTML
  4. Rehabilitation
    Visual Servoing of Flexible Manipulators With Unknown Camera Intrinsic Parameters and Vibration States
    Kai Li, Fan Xu, Han Zhang, and 1 more author
    IEEE/ASME Transactions on Mechatronics, 2023
    HTML

2021

  1. IOC
    Discrete-Time Inverse Linear Quadratic Optimal Control over Finite Time-Horizon under Noisy Output Measurements
    Han Zhang, Yibei Li, and Xiaoming Hu
    Control Theory and Technology, 2021
    HTML

2019

  1. IOC
    Inverse optimal control for discrete-time finite-horizon linear quadratic regulators
    Han Zhang, Jack Umenberger, and Xiaoming Hu
    Automatica, 2019
    arXiv HTML

2018

  1. DO
    Projected primal–dual gradient flow of augmented Lagrangian with application to distributed maximization of the algebraic connectivity of a network
    Han Zhang, Jieqiang Wei, Peng Yi, and 1 more author
    Automatica, 2018
    arXiv HTML
  2. MAS
    Consensus control for linear systems with optimal energy cost
    Han Zhang, and Xiaoming Hu
    Automatica, 2018
    arXiv HTML

Conference and workshop papers

2025

  1. SLAM
    A 4D Radar Camera Extrinsic Calibration Tool Based on 3D Uncertainty Perspective N Points
    Chuan Cao, Xiaoning Wang, Wenqian Xi, and 3 more authors
    In 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
    arXiv HTML

2024

  1. Traj. Planning
    A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive Control
    Guanfeng Yu, Han Zhang, Zehao Wang, and 1 more author
    In 2024 IEEE International Conference on Real-time Computing and Robotics (RCAR), 2024
    HTML
  2. Traj. Planning
    K-bmpc: Derivative-based koopman bilinear model predictive control for tractor-trailer trajectory tracking with unknown parameters
    Zehao Wang, Han Zhang, and Jingchuan Wang
    In 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
    arXiv HTML

2023

  1. Rehabilitation
    Identifying Tracking Motion Pattern in Rehabilitation Using Inverse Optimal Control
    Weihan Jiang, Han Zhang, and Ziliang Wang
    In 2023 China Automation Congress (CAC), 2023

2022

  1. IOC
    Statistically consistent inverse optimal control for linear-quadratic tracking with random time horizon
    Han Zhang, Axel Ringh, Weihan Jiang, and 2 more authors
    In 2022 41st Chinese Control Conference (CCC), 2022
    arXiv HTML

2019

  1. IOC
    Inverse optimal control for finite-horizon discrete-time linear quadratic regulator under noisy output
    Han Zhang, Yibei Li, and Xiaoming Hu
    In 2019 IEEE 58th conference on decision and control (CDC), 2019
    HTML

2018

  1. IOC
    A convex optimization approach to inverse optimal control
    Yibei Li, Han Zhang, Yu Yao, and 1 more author
    In 2018 37th Chinese control conference (CCC), 2018
    HTML

2017

  1. MAS
    Optimal energy consensus control for linear multi-agent systems
    Han Zhang, and Xiaoming Hu
    In 2017 36th Chinese Control Conference (CCC), 2017
    HTML