Publications

Model-free power system stability enhancement with dissipativity-based neural control

Yifei Wang , Han Wang , Kehao Zhuang , Keith Moffat , Florian Dörfler

Electric Power Systems Research, vol. 262, pp. 113518, 2027

Convex Co-Design of Control Barrier Functions and State Feedback Controllers for Linear Systems With Input Constraints

Han Wang , Kostas Margellos , Antonis Papachristodoulou , Claudio De Persis

IEEE Transactions on Automatic Control, vol. 71, no. 4, pp. 2770-2777, 2026

Designing Neural Controllers with Optimality and Stability Guarantees by Learning Input-Output Dissipativity

Han Wang , Keyan Miao , Diego Madeira , Antonis Papachristodoulou

Automatica, vol. 191, pp. 113120, 2026

Safe and Stable Filter Design Using a Relaxed Compatibility Control Barrier-Lyapunov Condition

Han Wang , Kostas Margellos , Antonis Papachristodoulou

Automatica, 2026

Accepted

Constraint Horizon in Model Predictive Control

Allan Andre Do Nascimento , Han Wang , Antonis Papachristodoulou , Kostas Margellos

IEEE Control Systems Letters, vol. 9, pp. 1676-1681, 2025

Distributed safe control design and probabilistic safety verification for multi-agent systems

Han Wang , Antonis Papachristodoulou , Kostas Margellos

Automatica, vol. 179, pp. 112393, 2025

On the Sample Complexity of Observers for Unknown Linear Systems with Biased Dynamics Estimations

Xuda Ding , Han Wang , Jianping He , Cailian Chen , Xinping Guan

International Journal of Robust and Nonlinear Control, vol. 35, no. 17, pp. 7104-7123, 2025

Online Control Barrier Function Construction for Safety-Critical Motion Control of Manipulators

Xuda Ding , Han Wang , Yi Ren , Yu Zheng , Cailian Chen , Jianping He

IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 54, no. 8, pp. 4761-4771, 2024

A time-triggered dimension reduction algorithm for the task assignment problem

Han Wang , Kostas Margellos , Antonis Papachristodoulou

European Journal of Control, vol. 68, pp. 100692, 2022

A Spatially Informed Gaussian Process UCB Method for Decentralized Coverage Control

Gennaro Guidone , Luca Monegaglia , Elia Raimondi , Han Wang , Mattia Bianchi , Florian Dörfler

European Control Conference, 2026

Learning Koopman Representations with Controllability Guarantees

Keyan Miao , Han Wang , Xuda Ding , Konstantinos Gatsis , Andreas Krause , Antonis Papachristodoulou

International Conference on Learning Representations, 2026

Data-Enabled Predictive Control for Nonlinear Systems Based on a Koopman Bilinear Realization

Zuxun Xiong , Zhenyi Yuan , Keyan Miao , Han Wang , Jorge Cortés , Antonis Papachristodoulou

IEEE Conference on Decision and Control, pp. 6498-6503, 2025

Opt-ODENet: Neural ODE Controller Design with Differentiable Optimization Layers for Safety and Stability

Keyan Miao , Liqun Zhao , Han Wang , Konstantinos Gatsis , Antonis Papachristodoulou

Proceedings of the 7th Annual Learning for Dynamics and Control Conference, pp. 1217-1229, 2025

Predictive Control Barrier Functions: Bridging Model Predictive Control and Control Barrier Functions

Jingyi Huang , Han Wang , Kostas Margellos , Paul Goulart

European Control Conference, pp. 2623-2629, 2025

Safety-Aware Optimal Control for Motion Planning of Inspection Robots in Nuclear Power Plants Using Backward Receding SCA

Xuda Ding , Han Wang , Baocong Zhang , Zhicai Ma , Cailian Chen

Chinese Control Conference, pp. 1598-1603, 2025

Convex Co-Design of Mixed-Relative Degree Control Barrier Functions and Feedback Controllers for Linear Systems

Han Wang , Kostas Margellos , Antonis Papachristodoulou , Claudio De Persis

IEEE Conference on Decision and Control, pp. 8158-8163, 2024

HiCRISP: An LLM-Based Hierarchical Closed-Loop Robotic Intelligent Self-Correction Planner

Chenlin Ming , Jiacheng Lin , Pangkit Fong , Han Wang , Xiaoming Duan , Jianping He

China Automation Congress, pp. 4310-4315, 2024

Safety Verification and Controller Synthesis for Systems with Input Constraints

Han Wang , Kostas Margellos , Antonis Papachristodoulou

IFAC-PapersOnLine, vol. 56, no. 2, pp. 1698-1703, 2023

Explicit Solutions for Safety Problems Using Control Barrier Functions

Han Wang , Kostas Margellos , Antonis Papachristodoulou

IEEE Conference on Decision and Control, pp. 5680-5685, 2022

Consensus and Approximation-Based Distribution Statistics in Network Systems

Yushan Li , Qing Jiao , Han Wang , Jianping He

American Control Conference, pp. 3767-3772, 2021

Moving Obstacle Avoidance and Topology Recovery for Multi-Agent Systems

Han Wang , Yushan Li , Wenbin Yu , Jianping He , Xinping Guan

American Control Conference, pp. 2696-2701, 2019

Optimal Topology Recovery Scheme for Multi-Robot Formation Control

Yushan Li , Han Wang , Jianping He , Xinping Guan

IEEE International Symposium on Industrial Electronics, pp. 1847-1852, 2019

Assessing Safety for Control Systems Using Sum-of-Squares Programming

Han Wang , Kostas Margellos , Antonis Papachristodoulou , Cordian Riener , Michal Kočvara , Bernard Mourrain

Polynomial Optimization, Moments, and Applications, pp. 207-234, 2023

A Data-Enabled Primal-Dual Approach for Policy Learning with SDP Formulations

Han Wang , Feiran Zhao , Florian Dörfler

IEEE Transactions on Automatic Control, 2026

Under review

Model Predictive Control with Multiple Constraint Horizons

Allan Andre do Nascimento , Han Wang , Antonis Papachristodoulou , Kostas Margellos

IEEE Transactions on Automatic Control, 2026

Under review

On the Design of Rational Polynomial State Feedback Controllers

Matthew Newton , Zuxun Xiong , Han Wang , Antonis Papachristodoulou

Automatica, 2026

Under review

Synthesis of Safety Certificates for Discrete-Time Uncertain Systems via Convex Optimization

Marta Fochesato , Han Wang , Antonis Papachristodoulou , Paul Goulart

Automatica, 2026

Under review

Model-Free Verification for Neural Network Controlled Systems

Han Wang , Zuxun Xiong , Liqun Zhao , Antonis Papachristodoulou

arXiv, 2023

Configuration-Aware Safe Control for Mobile Robotic Arm with Control Barrier Functions

Fan Ding , Han Wang , Jianping He , Yi Ren , Yu Zheng

arXiv, 2022

Safety-Aware Optimal Control in Motion Planning

Han Wang , Xuda Ding , Jianping He , Kostas Margellos , Antonis Papachristodoulou

arXiv, 2022

Robopheus: A Virtual-Physical Interactive Mobile Robotic Testbed

Xuda Ding , Han Wang , Hongbo Li , Hao Jiang , Jianping He

arXiv, 2021

Convex and Distributed Safety Analysis and Design for Control Systems

Han Wang

University of Oxford, 2024

DPhil thesis