Qiang Han

Papers

Total Citations

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About

Qiang Han is a robotics researcher whose work centers on the control and navigation of nonholonomic mobile systems, particularly wheeled mobile robots (WMRs) and articulated trailer systems. His foundational contribution, detailed in his most-cited paper from 2004, introduces a Lyapunov-based control strategy for path following in both single-body WMRs and complex tractor-trailer configurations. By deriving a rigorous kinematics and error model, Han’s approach ensures stable, precise trajectory tracking—a critical challenge in autonomous ground vehicles. Though his citation count (4) is modest, his work addresses a core problem in mobile robotics, influencing subsequent studies in nonlinear control and autonomous navigation. Han’s research bridges theoretical control theory and practical robotic applications, offering a systematic method for handling the nonholonomic constraints that define wheeled platforms. His contributions are particularly relevant for students and engineers developing robust path-following algorithms for logistics, agricultural, or service robots, demonstrating how Lyapunov stability can be leveraged to achieve reliable motion in constrained environments.