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Hai Zhao - IEEE Xplore Author Profile
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Hai Zhao

Publications
12
Citations
84
Publications by Year
20202025
Co-Authors:
Show All Co-Authors (15)
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Hai Zhao

Affiliation

School of Electrical and Information Engineering
Tianjin University
Tianjin, China

Publication Topics

Biography

Hai Zhao received the B.E. degree in automation from the Hunan University of Science and Technology, Xiangtan, China, in 2017, and the M.S. degree in control science and engineering with the Department of Automation, Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China, in 2020. He is currently working toward the Ph.D. degree in control science and engineering with the Department of Automation, School of Electrical and Information Engineering, Tianjin University, China. His research interests include networked control systems and model predictive control.(Based on document published on 29 November 2023).
Publications
12
Citations
84
Publications by Year
20202025
Co-Authors:
Show All Co-Authors (15)
Author's Published Works

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Nonlinear MPC on Parallel Parking for Autonomous Vehicles Under State-Dependent Switching

Hai Zhao;Hongjiu Yang;Zhengyu Wang;Yuanqing Xia

IEEE Transactions on Automation Science and Engineering
Year: 2025 | Volume: 22 | Journal Article |
In this paper, a framework integrating planning and control is designed to deal with the parallel parking problem of autonomous vehicle. In the planning section, efficient planning is achieved by directly setting target points. In the control part, it is mainly based on nonlinear model predictive control (NMPC) scheme for implementation. Firstly, the parking task is divided into four stages by set...Show More

Nonlinear MPC on Parallel Parking for Autonomous Vehicles Under State-Dependent Switching

Hai Zhao;Hongjiu Yang;Zhengyu Wang;Yuanqing Xia

Year: 2025 | Volume: 22 | Journal Article |

Terminal Constraint-Free Model Predictive Control for Max-Plus Linear Systems

Jin Wang;Hongjiu Yang;Hai Zhao

2024 43rd Chinese Control Conference (CCC)
Year: 2024 | Conference Paper |
In this paper, terminal constraint-free model predictive control (MPC) is established to track a reference signal for a max-plus linear system. Due to unconvex characteristics of max-plus linear systems, the existence of terminal constraints severely increases the difficulty in solving the optimal control problems. A weighted objective function is designed to make terminal states reach a positivel...Show More

Terminal Constraint-Free Model Predictive Control for Max-Plus Linear Systems

Jin Wang;Hongjiu Yang;Hai Zhao

Year: 2024 | Conference Paper |

Collision Avoidance for Autonomous Vehicles Based on MPC With Adaptive APF

Hongjiu Yang;Yongqi He;Yang Xu;Hai Zhao

IEEE Transactions on Intelligent Vehicles
Year: 2024 | Volume: 9, Issue: 1 | Journal Article |
Cited by: Papers (2)
In this paper, a model predictive control (MPC) strategy is developed to realize collision avoidance with dynamic obstacle vehicles for an autonomous vehicle. A novel collision constraint based on road width and vehicle shape is proposed to ensure a safe distance between the autonomous vehicle and an obstacle vehicle. A smooth path is guaranteed in collision avoidance by the adaptive artificial po...Show More

Collision Avoidance for Autonomous Vehicles Based on MPC With Adaptive APF

Hongjiu Yang;Yongqi He;Yang Xu;Hai Zhao

Year: 2024 | Volume: 9, Issue: 1 | Journal Article |

Tube-Based MPC for LPV Systems With External Disturbances Using Interval Predictors

Hongjiu Yang;Bowen Li;Zhiqiang Zuo;Hai Zhao

IEEE Transactions on Industrial Informatics
Year: 2024 | Volume: 20, Issue: 3 | Journal Article |
Cited by: Papers (3)
In this article, tube-based model predictive control (MPC) is investigated for a linear parameter-varying (LPV) system with external disturbances. The LPV system comes from an autonomous vehicle with external disturbances and scheduling parameters in trajectory tracking. An interval predictor is designed for state constraints under external disturbances and scheduling parameters. With a robust con...Show More

Tube-Based MPC for LPV Systems With External Disturbances Using Interval Predictors

Hongjiu Yang;Bowen Li;Zhiqiang Zuo;Hai Zhao

Year: 2024 | Volume: 20, Issue: 3 | Journal Article |

Switched Model Predictive Control for Nonholonomic Mobile Robots Under Adaptive Dwell Time

Qing Li;Hongjiu Yang;Yuanqing Xia;Hai Zhao

IEEE Transactions on Cybernetics
Year: 2024 | Volume: 54, Issue: 6 | Journal Article |
Cited by: Papers (5)
In this article, switched model predictive control (MPC) is proposed for nonholonomic mobile robots with adaptive dwell time and a dual-terminal set. The dual-terminal set is used to reduce on-line complexity of the switched MPC for the nonholonomic mobile robots with multiple constraints. By a switched signal with the adaptive dwell time, cost functions are switched to improve control performance...Show More

Switched Model Predictive Control for Nonholonomic Mobile Robots Under Adaptive Dwell Time

Qing Li;Hongjiu Yang;Yuanqing Xia;Hai Zhao

Year: 2024 | Volume: 54, Issue: 6 | Journal Article |

Nonlinear Terminal-Free MPC on Multitype Bend Tracking With Discontinuous Reference Paths for Autonomous Vehicles

Hai Zhao;Hongjiu Yang;Yuanqing Xia;Zhiqiang Zuo

IEEE Transactions on Industrial Electronics
Year: 2024 | Volume: 71, Issue: 1 | Journal Article |
Cited by: Papers (9)
In this article, multitype bend tracking with discontinuous reference paths is researched by a nonlinear terminal-free model predictive control (MPC) with an artificial reference path for an autonomous vehicle. The MPC strategy without terminal penalty and terminal state constraints is proposed to deal with the discontinuous reference paths, which improves solvability on an optimization problem ef...Show More

Nonlinear Terminal-Free MPC on Multitype Bend Tracking With Discontinuous Reference Paths for Autonomous Vehicles

Hai Zhao;Hongjiu Yang;Yuanqing Xia;Zhiqiang Zuo

Year: 2024 | Volume: 71, Issue: 1 | Journal Article |

Trajectory Tracking and Obstacle Avoidance for Wheeled Mobile Robots Based on EMPC With an Adaptive Prediction Horizon

Peng Li;Shizhan Wang;Hongjiu Yang;Hai Zhao

IEEE Transactions on Cybernetics
Year: 2022 | Volume: 52, Issue: 12 | Journal Article |
Cited by: Papers (23)
This article develops an event-triggered model-predictive control (EMPC) strategy to realize trajectory tracking and obstacle avoidance for a wheeled mobile robot (WMR) subject to input constraints and external disturbances. In the EMPC strategy, a potential field is introduced in the cost function to guarantee a smooth path for the WMR. An event-triggered mechanism is designed to reduce the compu...Show More

Trajectory Tracking and Obstacle Avoidance for Wheeled Mobile Robots Based on EMPC With an Adaptive Prediction Horizon

Peng Li;Shizhan Wang;Hongjiu Yang;Hai Zhao

Year: 2022 | Volume: 52, Issue: 12 | Journal Article |

Distributed Stochastic MPC for Networked Linear Systems With a Multirate Sampling Mechanism

Hongjiu Yang;Hai Zhao;Yuanqing Xia;Yang Xu

IEEE Transactions on Systems, Man, and Cybernetics: Systems
Year: 2022 | Volume: 52, Issue: 4 | Journal Article |
Cited by: Papers (5)
In this article, a distributed stochastic model predictive control (MPC) algorithm with a multirate sampling mechanism is proposed for a networked linear system with multiple dynamic subsystems. A delta operator approach is used for the multiple dynamic subsystems with different sampling periods in the multirate sampling mechanism. Both stochastic disturbances and probabilistic constraints of the ...Show More

Distributed Stochastic MPC for Networked Linear Systems With a Multirate Sampling Mechanism

Hongjiu Yang;Hai Zhao;Yuanqing Xia;Yang Xu

Year: 2022 | Volume: 52, Issue: 4 | Journal Article |

Finite-Time Motion Control with Full-State Constraints for Autonomous Ground Vehicles on Curved Roads

Hao Cheng;Hongjiu Yang;Zhiqiang Zuo;Hai Zhao

2021 5th CAA International Conference on Vehicular Control and Intelligence (CVCI)
Year: 2021 | Conference Paper |
In this paper, an autonomous ground vehicle (AGV) motion system is developed considering full-state constraints by a Barrier Lyapunov functions (BLF) based finite-time motion control scheme. A BLF-based finite-time lateral controller is designed for the lateral subsystem in the AGV motion system with full-state constraints. A BLF-based finite-time longitudinal controller is proposed to limit the c...Show More

Finite-Time Motion Control with Full-State Constraints for Autonomous Ground Vehicles on Curved Roads

Hao Cheng;Hongjiu Yang;Zhiqiang Zuo;Hai Zhao

Year: 2021 | Conference Paper |

Networked Trajectory Tracking Control for a Nonlinear Wheeled Mobile Robot

Haixin Zhang;Hongjiu Yang;Hai Zhao;Hao Cheng

2021 IEEE International Conference on Unmanned Systems (ICUS)
Year: 2021 | Conference Paper |
This paper investigates the trajectory tracking control problem of wheeled mobile robot under wireless network communication. A nonlinear kinematics model is used for the wheeled mobile robot because of that obstacle avoidance on horizontal road surfaces is usually considered for trajectory tracking control. Packets dropout occurs in the wireless network communication due to network congestion, co...Show More

Networked Trajectory Tracking Control for a Nonlinear Wheeled Mobile Robot

Haixin Zhang;Hongjiu Yang;Hai Zhao;Hao Cheng

Year: 2021 | Conference Paper |

Event-Triggered Active MPC for Nonlinear Multiagent Systems With Packet Losses

Hongjiu Yang;Hai Zhao;Yuanqing Xia;Jinhui Zhang

IEEE Transactions on Cybernetics
Year: 2021 | Volume: 51, Issue: 6 | Journal Article |
Cited by: Papers (37)
In this paper, event-triggered active model predictive control is investigated for a nonlinear multiagent system (MAS) with packet losses. By designing event-triggered mechanisms which reduce sensing cost, event-triggered conditions are detected at certain sampling instants. The prediction horizons of all agents are selected actively through the event-triggered mechanisms. Selecting a maximal pred...Show More

Event-Triggered Active MPC for Nonlinear Multiagent Systems With Packet Losses

Hongjiu Yang;Hai Zhao;Yuanqing Xia;Jinhui Zhang

Year: 2021 | Volume: 51, Issue: 6 | Journal Article |

Output Regulation of Coupled Nonlinear Multi-caused System

Qing Li;Hai Zhao;Li Li;Hongjiu Yang

2020 7th International Conference on Information, Cybernetics, and Computational Social Systems (ICCSS)
Year: 2020 | Conference Paper |
In this paper, a distributed model predictive control algorithm is proposed to realize output control of multi-caused systems. For possible transmission data loss between multi-caused systems, real-time prediction function of model prediction control is skillfully used to deal with the problem of coupling data transmission loss between multi-caused systems by considering coupling information trans...Show More

Output Regulation of Coupled Nonlinear Multi-caused System

Qing Li;Hai Zhao;Li Li;Hongjiu Yang

Year: 2020 | Conference Paper |

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