Robotics，Optimal Control，Inverse Optimal Control, System Identification

Bachelor level course:

l  Lecturer (and co-lecturer), developer and examiner, Comprehensive Robotics Practice. (2025年上海市重点课程，Shanghai Municipal Key Course 2025)

Master & Ph.D. level courses:

l  Lecturer, developer and examiner, Nonlinear Control Theory, taught in English annually.

l  Co-lecturer, co-developer and examiner, Scientific Writing, Integrity and Ethics, given to two separate cohorts annually.

Peer-reviewd journal papers

l Zehao Wang, Han Zhang,  Jingchuan Wang, Weidong Chen. Optimization-Based Trajectory Planning  for Tractor-Trailer Vehicles on Curvy Roads: A Progressively Increasing  Sampling Number Method. IEEE Transactions on Intelligent Transportation Systems. (Early Access)

lXiaotao Ren, Wenxiao Zhao, Han Zhang. Recursive identification of nonlinear nonparametric systems under event-triggered observations. Systems & Control Letters, Volume 196, 2025: 106013.

l  Xinghan Li, Jianqi Chen, Han Zhang, Jieqiang Wei, Junfeng Wu. Error Dynamics in Affine Group Systems. IEEE Transactions on Automatic Control, Volume: 70, Issue 4, April 2025: 2607 - 2614.

l  Han Zhang, Axel Ringh, Statistically consistent inverse optimal control for discrete-time indefinite linear-quadratic systems, Automatica, Volume 166, August 2024, 166: 111705.

l  Han Zhang, Axel Ringh, Inverse optimal control for averaged cost per stage linear quadratic regulators, Systems & Control Letters, Volume 183, 2024: 105658.

l Xingyi Li, Han Zhang, Weidong Chen, 4D radar-based pose graph SLAM with ego-velocity pre-integration factor, IEEE Robotics and Automation Letters, Volume. 8, Issue. 8, August 2023: 5124 - 5131

l  Kai Li, Han Zhang, Hesheng Wang. Nonlinear Observer-Based Visual Servoing and Vibration Control of Flexible Robotic Manipulators With a Fixed Camera. IEEE Transactions on Cybernetics, Volume 54, Issue 7, July 2024: 4100 - 4110.

l  Kai Li, Fan Xu, Han Zhang, Hesheng Wang, Visual servoing of flexible manipulators with unknown camera intrinsic parameters and vibration states, IEEE/ASME Transactions on Mechatronics, Volume 29, Issue 1, February 2024: 510 - 520.

l  Han Zhang,  Axel Ringh, Inverse linear-quadratic discrete-time finite-horizon  optimal control for indistinguishable homogeneous agents: a convex  optimization approach, Automatica, Volume 148, 2023: 110758.

l  Han Zhang,  Yibei Li, Xiaoming Hu, Discrete-time inverse linear quadratic optimal  control over finite time-horizon under noisy output measurements, Control Theory and Technology, Volume 19, Number 4, November 2021: 563 - 572.

l  Han Zhang, Jack Umenberger, Xiaoming Hu, Inverse optimal control for discrete-time finite-horizon Linear Quadratic Regulators, Automatica, Volume 110, 2019: 108593.

l  Han Zhang, Jieqiang Wei, Peng Yi, Xiaoming Hu, Projected  primal-dual gradient flow of augmented Lagrangian with application to  distributed maximization of the algebraic connectivity of a network, Automatica, Volume 98, December 2018: 34 - 41.

l Han Zhang, Xiaoming Hu, Consensus control for linear systems with optimal energy cost, Automatica, Volume 93, July 2018: 83 - 91.

Peer-reviewd conference papers

l Chuan Cao, Xiaoning Wang, Wenqian Xi, Han Zhang, Weidong Chen, Jingchuan Wang, A 4D Radar Camera Extrinsic Calibration Tool based on 3D Uncertainty Perspective n Points. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (Accepted)

l  Zehao Wang, Han Zhang, JingchuanWang. K-BMPC: Derivative-based Koopman Bilinear Model Predictive Control for Tractor-Trailer Trajectory Tracking with Unknown Parameters. 2024 IEEE International Conference on Robotics and Automation (ICRA).

l  Guanfeng Yu, Han Zhang, Zehao Wang, Jingchuan Wang. 2024 IEEE International Conference on Real-time Computing and Robotics (RCAR).

l  Han Zhang, Axel Ringh, Weihan Jiang, Shaoyuan Li, Xiaoming Hu. Statistically Consistent Inverse Optimal Control for Linear-Quadratic Tracking with Random Time Horizon. 2022 41^st Chinese Control Conference (CCC). (The Honorable Mention of Guan Zhao-Zhi Award)

l  Han Zhang, Yibei Li, Xiaoming Hu. Inverse Optimal Control for Finite-Horizon Discrete-time Linear Quadratic Regulator Under Noisy Output. 2019 58th IEEE Conference on Decision and Control (CDC).

l  Yibei Li, Han Zhang, Yu Yao, Xiaoming Hu, A Convex Optimization Approach to Inverse Optimal Control. 2018 37th Chinese Control Conference (CCC).

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

l The Honorable Mention of Guan Zhao-Zhi Award for 41st Chinese Control Conference, 2022

l First prize, China University Faculty Robotics Teaching Innovation Competition, Chinese Automation Association, 2024