个人资料：
姓名：田栢苓
职称：教授/博士生导师
学科专业：控制科学与控制工程
通讯地址：天津大学电气与自动化工程学院26教学楼D区324室
电子信箱：bailing_tian@tju.edu.cn
实验室主页：https://tju-air-lab.github.io/
主要经历：
(1) 2019.06-至今 天津大学自动化系， 教授，博士生导师
(2) 2018.06-2019.06 天津大学自动化系， 特聘研究员，博士生导师
(3) 2015.06-2018.06 天津大学自动化系， 副教授，博士生导师
(4) 2014.06-2015.06 曼彻斯特大学控制中心， 国家公派访问学者
(5) 2011.06-2014.06 天津大学自动化系， 讲师
(6) 2002.09-2011.06 天津大学自动化系， 本科+硕士+博士
主要获奖及任职：
2017年获首届装备预研教育部联合青年人才基金，2018年获天津市自然科学二等奖1项，2019年获天津市中青年科技创新领军人才荣誉称号，2020年获国家优秀青年基金，2022年获首届飞航杯智能装备与体系设计大赛-无人蜂群挑战赛冠军，2023年获北京市麒麟科学技术奖，2024年获天津市科技进步二等奖。中国自动化无人飞行器自主控制专业委员会副秘书长，中国自动化技术过程故障诊断与安全性专业委员会委员等职务。
主要研究方向：
以多无机为研究对象，从提高无人系统的智能化和集群化水平角度出发，主要研究方向：（1）导航拒止环境下的多无机自主导航与建图技术；（2）多障碍环境下的实时运动规划技术；（3）复杂环境下的智能决策技术；（4）不确定影响下的高精度快速协同控制技术。以可重复使用运载器为研究对象，从提高可重复运载器安全再入飞行角度出发，主要研究方向：（1）面向安全域的可重复使用运载器轨迹姿态协同控制；（2）具有轨迹重规划特性的先进制导控制算法；（3）有限/固定时间控制器观测器设计及其在飞行器中的应用。更多实验室信息请参考：https://tju-air-lab.github.io/
主要科研项目：
[1] 2024.01-2026.12 国家重点研发计划“面向人机交互的共享环境建模与互助行为规划技术研究”，项目负责人
[2] 2023.01-2026.12 国家自然科学基金“面向复杂环境的多无人机分布式智能自主协同探测- 62273249”，项目负责人
[3] 2022.10-2023.10 中国高校产学研创新基金“GPS导航拒止环境下多无人机分布式协同探测-2021ZYA08009”，项目负责人
[4] 2021.01-2023.12 国家优秀青年科学基金“高超声速飞行器轨迹姿态协同控制- 62022060”，项目负责人
[5] 2018.10-2020.12项目“多无人机协同定位与自主同控制”，项目负责人
[6] 2019.01-2020.12装备预研教育部联合基金一般基金“面向安全域的高超声速飞行器再入轨迹姿态协同容错控制”，项目负责人
[7] 2019.06-2019.06 十三五装备预研国防科技重点实验室基金“可重复使用运载器先进再入制导与控制”，项目负责人
[8] 2016.01-2017.12装备预研教育部联合基金青年人才基金“高超声速飞行器先进再入制导控制一体化策略研究-6141A02033311”，项目负责人
[9] 2017.07-2018.06 项目“基于仿生群体智能的集群无人机自主编队协同控制”，项目负责人
[10] 2018.01-2021.12国家自然科学基金“面向安全域的RLV再入轨迹重构与姿态协同控制-61773278”，项目负责人
代表论著：
围绕无人系统的自主导航与制导控制问题，近年来在RAL，Automatica，TAC，TIE，TII，TSMC等国际知名杂志发表SCI论文100余篇，Google学术引用5000余次，出版专著1部，部分代表成果包括
[1] Junjie Lu, Xuewei Zhang; Hongming Shen, LiWen Xu and Bailing Tian.You Only Plan Once: A Learning-based One-stage Planner with Guidance Learning, IEEE Robotics and Automation Letters, DOI: 10.1109/LRA.2024.3399589,2024.
[2] Liwen Xu, Bailing Tian, Cong Wang, Junjie Lu, Dandan Wang, Zhiyu Li, Qun Zong. Fixed-time Disturbance Observer-Based MPC Robust Trajectory Tracking Control of Quadrotor, IEEE/ASME Transactions on Mechatronics, 2023.
[3] Hao Cheng, Biling Tian, Xuewei Zhang and Hongming Shen. A Distributed Algorithm for Multi-Robot Task Allocation via Weighted Buffered Voronoi Partition, IEEE Transactions on Industrial Electronics, 2023.
[4] Junjie Lu, Bailing Tian, Hongming Shen, Xuewei Zhang and Yulin Hui. LPNet: A Reaction-based Local Planner for Autonomous Collision Avoidance using Imitation Learning. IEEE Robotics and Automation Letters, 8(11): 7058–7065，2023.
[5] Xuewei Zhang, Bailing Tian, Hanchen Lu, Hongming Shen, Junjie Lu. DEMO-PAST: A Decentralized Multi-MAV Online Navigation System using Parallel Strategy Acceleration, IEEE Transactions on Systems, Man, and Cybernetics: Systems.
[6] Yulin Hui, Xuewei Zhang, Hongming Shen, Hanchen Lu, Bailing Tian. DPPM: Decentralized Exploration Planning for Multi-UAV Systems Using Lightweight Information Structure, IEEE Transactions on Intelligent Vehicles, DOI: 10.1109/TIV.2023.3322705, 2023.
[7] Junjie Lu, Bailing Tian, Hongming Shen and Xuewei Zhang. Real-time Instance-Aware Segmentation and Semantic Mapping on Edge Devices, IEEE Transactions on Instrumentation and Measurement, DOI:10.1109/TIM.2022.3224512 2022.
[8] Hanchen Lu, Qun Zong, Shupeng Lai, Bailing Tian, Lihua Xie. Flight with Limited Field of View: A Parallel and Gradient-free Strategy for Micro Aerial Vehicle，IEEE Transactions on Industrial Electronics，69(9): 9258-9267, 2022.
[9] Hanchen Lu, Qun Zong, Shupeng Lai, Bailing Tian, Lihua Xie. Real-time Perception-Limited Motion Planning Using Sampling-based MPC, IEEE Transactions on Industrial Electronics，69(12):13182–13191, 2022.
[10] Hongming Shen, Qun Zong, Bailing Tian and Hanchen Lu. Voxel-based Localization and Mapping for multi-robot system in GPS-denied Environments, IEEE Transactions on Industrial Electronics，69(10):10333–10342, 2022.
[11]Hongming Shen, Qun Zong, Bailing Tian and Hanchen Lu. PGO-LIOM: Tightly-coupled LiDAR-Inertial Odometry and Mapping via Parallel and Gradient-free Optimization, IEEE Transactions on Industrial Electronics, 10.1109/TIE.2022.3229329, 2022.
[12] Da Liu, Qun Zong, Xiuyun Zhang, Ruilong Zhang, Liqian Dou and Bailing Tian. Game of Drones: Intelligent Online Decision Making of Multi-UAV Confrontation，IEEE Transactions on Emerging Topics in Computational Intelligence，10.1109/TETCI.2024.3360282，2024.
[13]Wanwan Zhu,Yukai Yang,Bailing Tian,Qun Zong. Velocity-Free Attitude Control for Flexible Spacecraft With Global Finite-Time Convergence, IEEE Transactions on Circuits and Systems II: Express Briefs, 10.1109/TCSII.2024.3381121,2024.
[14] Wanwan Zhu,Yukai Yang,Bailing Tian,Qun Zong. Global finite-time adaptive attitude control for coupled spacecraft with model uncertainty and actuator faults. IEEE Transactions on Control Systems Technology, 2024.
[15] Bailing Tian, Zongyu Zuo, Xiaomo Yan and Hong Wang. A Fixed-time Output Feedback Control Scheme for Double Integrator Systems, Automatica, 80:17–24, 2017.
[16] Bailing Tian, Zhiyu Li and Qun Zong. A Continuous Multivariable Finite-time Control Scheme for Double Integrator Systems with Bounded Control Input, IEEE Transactions on Automatic Control, 67(11): 6068-6073 , 2022.
[17]Bailing Tian, Xiaojin Zhang, Zhiyu Li and Xiuyun Zhang. Adaptive Multivariable Super-Twisting Based Lyapunov Redesign for RLV Attitude Control，IEEE Transactions on Systems, Man and Cybernetics: Systems, DOI: 10.1109/TSMC.2024.3355398, 2024.
[18] Bailing Tian, Pinpin Li, Hanchen Lu, Qun Zong and Lei He. Distributed Pursuit of an Evader With Collision and Obstacle Avoidance, IEEE Transactions on Cybernetics, 52(12):13512-13520, 2022.
[19] Bailing Tian, Zhiyu Li and Xiaopeng Zhang and Qun Zong. Adaptive Multivariable Reentry Attitude Control of RLV with Prescribed Performance, IEEE Transactions on Systems, Man and Cybernetics: Systems, 52(10): 6674-6678, 2022.
[20] Bailing Tian, Jie Cui, Hanchen Lu and Qun Zong. Attitude Control of UAVs Based on Event-Triggered Supertwisting Algorithm，IEEE Transactions on Industrial Informatics, 17(2): 1029–1038, 2021.
[21]Bailing Tian, Jie Cui, Hanchen, Zongyu Zuo and Qun Zong. Adaptive Finite-Time Attitude Tracking of Quadrotors with Experiments and Comparisons, IEEE Transactions on Industrial Electronics, 66(12):9428-9438, 2019.
[22] Bailing Tian, Hanchen Lu, Zongyu Zuo and Wen Yang. Fixed-Time Leader–Follower Output Feedback Consensus for Second-Order Multiagent Systems, IEEE Transactions on Cybernetics, 49(4):1545-1550, 2019
[23] Bailing Tian, Lihong Liu, Hanchen Lu, Zongyu Zuo, Qun Zong and Yunpeng Zhang. Multivariable Finite Time Attitude Control for Quadrotor UAV: Theory and Experimentation. IEEE Transactions on Industrial Electronics, 65(3): 2567-2577, 2018.
[24] Bailing Tian, Yin Liping and Wang Hong. Finite Time Reentry Attitude Control Based on Adaptive Multivariable Disturbance Compensation. IEEE Transactions on Industrial Electronics, 62(9): 5889-5898, 2015.
[25] Bailing Tian, Fan Wenru, Su Rui and Qun Zong. Real-Time Trajectory and Attitude Coordination Control for Reusable Launch Vehicle in Reentry Phase. IEEE Transactions on Industrial Electronics, 62(3):1639-1650,2015.
[26]Zhiyu Li, Bailing Tian, Xiuyun Zhang and Qun Zong. Design and Implementation of Continuous Bounded Finite-Time Attitude Control of Reusable Launch Vehicle, IEEE Transactions on Industrial Electronics, DOI: 10.1109/TIE.2023.3260343, 2023.
[27] Xiuyun Zhang, Qun Zong, Liqian Dou, Bailing Tian. Finite-time attitude optimization maneuver control for coupled spacecraft under attitude measurement errors and actuator faults，IEEE Transactions on Systems, Man, and Cybernetics: Systems, DOI:10.1109/TSMC.2022.3221618, 2022.
[28] Xinyi Zhao, Bailing Tian, Ming You and Long Ma. Adaptive Distributed Sliding Mode Control for Multiple Unmanned Aerial Vehicles with Prescribed Performance, IEEE Transactions on Vehicular Technology, 71(1): 11480-11490, 2022.
[29] Jie Wang, Zitao Zhang, Bailing Tian, and Qun Zong. Event-based Robust Optimal Consensus Control for Nonlinear Multiagent System with Local Adaptive Dynamic Programming，IEEE Transactions on Neural Networks and Learning Systems, DOI: 10.1109/TNNLS.2022.3180054，2022.
[30]Haisong Li, Bailing Tian, Hongming Shen, Junjie Lu. An Intensity-Augmented LiDAR-Inertial SLAM for Solid-State LiDARs in Degenerated Environments, IEEE Transactions on Instrumentation and Measurement, DOI: 10.1109/TIM.2022.3190060, 2022.
[31] Ruilong Zhang, Qun Zong, Xiuyun Zhang, Liqian Dou and Bailing Tian. Game of Drones: Multi-UAV Pursuit-Evasion Game with Online Motion Planning by Deep Reinforcement Learning, IEEE Transactions on Neural Networks and Learning Systems, DOI: 10.1109/TNNLS.2022.3146976, 2022.
[32] Xiuyun Zhang, Qun Zong, Liqian Dou, Ruilong Zhang, Bailing Tian and Wenjing Liu. Finite-time distributed attitude synchronization for multiple spacecraft with angular velocity and input constraints, IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2021.3115479, 2021.
[33] Z Zuo, M Defoort, Bailing Tian, Z Ding. Distributed Consensus Observer for Multi-Agent Systems With High-Order Integrator Dynamics, IEEE Transactions on Automatic Control, 65(4):1771-1778,2020.
[34] Zongyu Zuo, Bailing Tian, Michael Defoort, Zhengtao Ding. Fixed-time Consensus Tracking for Multi-agent Systems with High-order Integrator Dynamics, IEEE Transaction on Automatic Control, 63(2):563-570, 2018.
[35] Linqi Ye, Qun Zong and Bailing Tian. Output Tracking of Uncertain Nonminimum Phase Systems by Experience Replay, IEEE Transactions on Systems, Man, and Cybernetics: Systems, DOI:10.1109/TSMC.2019.2919012, 2019.
[36] Linqi Ye, Qun Zong, J.L.Crassidis, Bailing Tian. Output Redefinition-Based Dynamic Inversion Control for a Nonminimum Phase Hypersonic Vehicle. IEEE Transactions on Industrial Electronics, 65(4): 3447-3457, 2018.
[37] Linqi Ye, Bailing Tian, Houde Liu, Qun Zong, Bin Liang and Bo Yuan. Anti-windup Robust Backstepping Control for an Underactuated Reusable Launch Vehicle, IEEE Transactions on Systems, Man, and Cybernetics: Systems, DOI: 10.1109/TSMC.2020.3020365,2020.
[38] Xinyi Zhao, Qun Zong, Bailing Tian. Integrated Fault Estimation and Fault-Tolerant Tracking Control for Lipschitz Nonlinear Multiagent Systems. IEEE Transactions on Cybernetics, 50(2):678-688, 2020.
[39] Xinyi Zhao, Qun Zong, Bailing Tian. Finite-time dynamic allocation and control in multi-agent coordination for target tracking. IEEE Transactions on Cybernetics, 50(2):678-688, 2020.
[40] Qi Mao, Liqian Dou, Zhenshu Yang, Bailing Tian and Qun Zong. Fuzzy Disturbance Observer-Based Adaptive Sliding Mode Control for Reusable Launch Vehicles with Aeroservoelastic Characteristic, IEEE Transactions on Industrial Informatics,16(2): 1214 – 1223,2020.
[41] N Xing, Q Zong, L Dou, Bailing Tian, Q Wang. A Game Theoretic Approach for Mobility Prediction Clustering in Unmanned Aerial Vehicle Networks, IEEE Transactions on Vehicular Technology,68(10): 9963-9973, 2019.
[42] Wanwan Zhu, Qun Zong, Bailing Tian and Wenjing Liu. Disturbance observer-based active vibration suppression and attitude control for flexible spacecraft, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 10.1109/TSMC.2020.3010518, 2020.
[43] Z Zuo, J Song, B Tian, M Basin. Robust Fixed-Time Stabilization Control of Generic Linear Systems With Mismatched Disturbances, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 52(2):759-768，2022.
[44]田栢苓;李品品;鲁瀚辰;宗群. 复杂环境下多无人机轨迹姿态协同控制. 航空学报，2020,41（S2）:724245.
[45]田栢苓;李智禹，吴思远，宗群. 可重复使用运载器再入轨迹与制导控制方法综述。航空学报，2020，41(11):54072.
[46]张学伟，田栢苓，鲁瀚辰，谌宏鸣，宗群。面向复杂未知多障碍环境的多无人机分布式在线轨迹规划，中国科学: 信息科学，52(9): 1627-1641，2022.
代表专利:
[1] 田栢苓，张秀云，宗群. 基于非线性规划的星簇级卫星容错控制方法 ZL201810422324.2，授权，2021/03/16
[2] 田栢苓，杨山，宗群。基于脑电的有人/无人机集群编队VR仿真方法及系统 ZL201710799662.3，授权，2020/11/20
[3] 田栢苓，刘丽红，鲁瀚辰。基于多变量干扰补偿的四旋翼无人机轨迹与姿态协同控制算法ZL201710794252.X，授权，2021/01/05
[4] 田栢苓，鲁瀚辰，宗群。轨迹控制室内四旋翼无人机编队演示验证平台及方法 ZL201711195918.0，授权，2021/06/08
[5] 田栢苓，张秀云，宗群. 基于自适应观测器的卫星故障诊断与容错控制方法 ZL201710994393.6，授权，2021/07/09
[6] 田栢苓，崔婕，鲁瀚辰，刘丽红。自适应多变量的四旋翼无人机有限时间容错控制方法 ZL201810433723.9，授权，2021/08/03
[7] 田栢苓，马宇昕，鲁瀚辰，刘丽红，崔婕。基于相对速度障碍的集群无人机避碰方法ZL201810849450.6，授权，2021/08/13
[8] 田栢苓，马宇昕，鲁瀚辰。面向安全域的集群无人机轨迹姿态协同控制方法 ZL201810235734.6，授权，2021/08/31
[9] 田栢苓，刘丽红，马宇昕，崔婕。基于给定时间的四旋翼无人机高精度姿态跟踪控制方法 ZL201810097850.6，授权，2021/08/31
[10] 田栢苓，崔婕，鲁瀚辰，刘丽红，宗群。面向事件触发的四旋翼无人机姿态控制方法，ZL201910194876.7，授权，2022/03/22
[11] 田栢苓，刘丽红，崔婕，宗群。基于深度Q学习的无人机环境感知与自主避障方法，ZL201910195250.8，授权，2022年08月30日
[12] 田栢苓，张学伟，程浩，宗群。基于任务逻辑调度的集群四旋翼无人机路径生成方法，ZL 202110666715.0，授权，2022年12月6日
[13] 田栢苓，卢俊杰，谌宏鸣，左宗玉。卫星拒止环境下多无人机分布式协同定位与建图方法，ZL 202211081054.6，授权，2022/11/11
[14] 田栢苓，戴威，张奕恺，宗群。视觉传感器激光雷达融合无人机定位与建图装置和方法，ZL 202010864051.4.，授权，2022年12月2日
[15] 田栢苓，李智禹，宗群，吴思元。可重复使用运载器全阶段再入返回制导方法，ZL 2019111871780，授权，2023年02月21日
[16] 田栢苓，李海松，谌宏鸣，宗群。基于UWB在线锚点标定的视觉惯性紧耦合里程计设计方法，ZL 202110558941.7，授权，2023年03月14日
[17] 田栢苓，张奕恺，宗群。局部地图匹配与端到端测距多无人机协同定位系统和方法，ZL 202111063498.2，授权，2023年07月21日
[18] 田栢苓;刘清朝;窦立谦;王凯;王丹丹。多无人机分布式主动协同探测方法，ZL 202310013673.X, 授权，2023年09月22日
[19] 田栢苓，程浩，宗群。基于协商共识的集群四旋翼无人机任务规划方法，ZL202111207723.5, 授权，2023年12月19日。
[20] 田栢苓，李智禹，吴思元，宗群。可重复使用运载器自适应多变量固定时间预设性能控制，202110923467.3
[21] 田栢苓，李品品，宗群。逃跑者位置不确定的多智能体分布式围捕方法，202111384733.6
[22] 田栢苓，马文瑀，谌宏鸣。基于视觉激光雷达惯性紧耦合的定位建图方法
[23] 田栢苓，孙华清，李海松。基于固态激光雷达的雷达惯性紧耦合定位建图方法
人员招生：
课题组招收优秀的本科生、硕士生和博士生，欢迎对我们研究工作感兴趣的小伙伴加入实验室。做有温度的科研，感动自己，照亮他人，在这里，遇见更好的自己。
