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鲜斌

Date:2020年08月01日

个人资料:

姓名:鲜斌

职称:教授/博士生导师

学科专业:控制科学与工程

通讯地址:天津大学电气自动化工程与信息工程学院26教学楼E区525室

电子信箱:xbin@tju.edu.cn

电话/传真:022-27400897

主要经历:

(1) 2007.01-至今天津大学电气自动化与信息工程学院(原电气与自动化工程学院),控制科学与工程学科,教授,博士生导师

(2) 2006.07-2017.01美国科控半导体公司,高级运动控制专家

(3) 2005.07-2016.07美国Duke University,博士后

(4) 2000.08-2004.05美国Clemson University,电气工程专业,博士

(5) 1997.09-2000.05中国科学院电工研究所,电气传动及自动化专业,硕士

(6) 1992.09-1997.07清华大学,机械工程专业,学士

主要研究方向:

(1) 自主无人机系统

(2) 智能机器人系统

(3) 非线性控制理论与应用

(4) 基于人工智能的视觉识别与跟踪

(5) 三维环境感知与重构

(6) 嵌入式控制系统

主要科研项目:

(1) 三维复杂场景融合建模研究,国家重点基础研究发展计划(2018YFB1403900)子课题,项目负责人

(2) 面向复杂非结构环境作业的小型飞行机器人自主感知与控制研究,国家自然科学基金重大研究计划项目(91748121),项目负责人

(3) 小型单旋翼无人直升机自主安全飞行与视觉跟踪控制研究,天津市应用基础与前沿技术研究计划重点项目(14JCZDJC31900),项目负责人

(4) 可用于高压输电线路自动寻检的小型旋翼无人机自主飞行控制关键理论与技术研究,教育部新世纪人才计划(NCET-09-0590),项目负责人

(5) 吸气式乘波体高超声速飞行器动态分析与非线性鲁棒自适应跟踪控制研究,中国国家自然科学基金重大研究计划项目(90916004),项目负责人

(6) 微小型多旋翼无人机系统分析与高性能姿态/航迹控制研究,国家自然科学基金青年基金项目(60804004),项目负责人

代表性论著、学术著作:

代表性学术论文:

(1) B. Xian(鲜斌)*, S.Z. Wang, and S. Yang, “An Online Trajectory Planning Approach for A Quadrotor UAV with A Slung Payload”, IEEE Transactions on Industrial Electronics, Vol. 67, No.8, pp. 6669-6678, August 2020. (SCI, EI, 1区)

(2) S. Yang, and B. Xian(鲜斌)*, “Energy-based Nonlinear Adaptive Control Design for the Quadrotor UAV System with a Suspended Payload”, IEEE Transactions on Industrial Electronics, Vol. 67, No.3, pp. 2054-2064, March 2020. (SCI, EI, 1区)

(3) B. Xian(鲜斌)*, S.Z. Wang, and S. Yang, “Nonlinear Adaptive Control for An unmanned Aerial Payload Transportation System: Theory and Experimental Validation”, Nonlinear Dynamics, Vol. 98, No.3, pp. 1745-1760, November 2019. (SCI, EI, 2区)

(4) 王征宇,鲜斌*,“倾转式三旋翼无人机的有限时间收敛控制设计”,控制理论与应用,Vol. 36, No.9, pp.1442-1452, 2019年9月.

(5) B. Xian(鲜斌)*, and W. Hao, “Nonlinear Robust Fault-Tolerant Control of the Tilt Trirotor UAV Under Rear Servo's Stuck Fault: Theory and Experiments”, IEEE Transactions on Industrial Informatics,Vol.15, No. 4, pp. 2158-2166, April 2019. (SCI, EI, 1区)

(6) 王诗章,鲜斌*,杨森,“无人机吊挂飞行系统的减摆控制设计”,自动化学报,Vol. 44, No. 10, pp.1771-1780, 2018年10月. (EI)

(7) 潘晓龙,鲜斌*, “小型无人直升机的无模型自适应鲁棒控制设计”,控制理论与应用,Vol.34, No. 9, pp.1171-1178, 2017年9月. (EI)

(8) W. Hao, and B. Xian(鲜斌)*, “Nonlinear Adaptive Fault-tolerant Control for A Quadrotor UAV Based on Immersion And Invariance Methodology”, Nonlinear Dynamics, Vol. 90, No. 4, pp.2813-2826, 2017. (SCI, EI, 2区)

(9) B. Xian(鲜斌)*, and Y. Zhang, “Continuous Asymptotically Tracking Control for a Class of Nonaffine-in-Input System With Nonvanishing Disturbance”, IEEE. Transactions on Automatic Control, Vol.62, No.11, pp.6019-6025, November 2017. (SCI, EI, 2区,自动化领域国际顶级期刊)

(10) B. Xian(鲜斌)*, B. Zhao, Y. Zhang, and X. Zhang, “A Low-cost Hardware-In-the-Loop-Simulation Testbed of Quadrotor UAV and Implementation of Nonlinear Control Schemes”, Robotica, Vol.35, No. 3, pp.588-612, March 2017. (SCI, EI,4区)

(11) B. Xian(鲜斌)*, B. Zhao, Y. Zhang, and X. Zhang, “Nonlinear Control of a Quadrotor with Deviated Center of Gravity”, ASME Journal of Dynamic Systems, Measurement and Control, Vol.39, No.1, pp. 011003-1- 011003-7,January 2017. (SCI, EI, 4区)

(12) B. Xian(鲜斌)*, and Y.Zhang,“A New Smooth Robust Control Design for Uncertain Nonlinear Systems with Non-vanishing Disturbances”, International Journal of Control, Vol. 89, No. 6, pp. 1285-1302, June 2016. (SCI,EI, 3区)

(13) Y. Zhang, and B. Xian(鲜斌)*, “Continuous Nonlinear Asymptotic Tracking Control of an Air-breathing Hypersonic Vehicle with Flexible Structural Dynamics and External Disturbances”, Nonlinear Dynamics, Vol.83, No. 1, pp. 867-891, 2016. (SCI, EI, 2区)

(14) B. Zhao, B. Xian(鲜斌)*,Y. Zhang, and X. Zhang, “Nonlinear Robust Sliding Mode Control of a Quadrotor UAV via Immersion and Invariance”, International Journal of Robust and Nonlinear Control, Vol.25, No. 18, pp.3714-3731, December 2015. (SCI, EI, 2区)

(15) X. Zhang, B. Xian(鲜斌) *, B. Zhao, and Y. Zhang, “Hovering and Tracking Control of a Nano Quadrotor Helicopter in a GPS-denied Environment Using On-board Vision”, IEEE. Transactions on Industrial Electronics, Vol.62, No.10, pp.6392-6403, October 2015. (SCI, EI, 1区)

(16) Y. Zhang, B. Xian(鲜斌) *, and S.G. Ma, “Continuous Robust Tracking Control for A Magnetic Levitation System with Unidirectional Input Constraint”, IEEE. Transactions on Industrial Electronics, Vol.62, No. 9,pp. 5971-5980, September 2015. (SCI, EI, 1区)

(17) B. Zhao, B. Xian(鲜斌)*, Y. Zhang, and X. Zhang, “Nonlinear Robust Adaptive Tracking Control of a Quadrotor UAV via Immersion and Invariance Methodology”, IEEE Transactions on Industrial Electronics, Vol. 62, No. 5, pp.2891-2902, May 2015. (SCI, EI, 1区)

(18) 鲜斌*,刘洋,张旭,曹美会,“基于视觉的小型四旋翼无人机自主飞行控制”, 机械工程学报,Vol.51, No.9,pp.58-63, 2015年5月(EI)

(19) B. Xian(鲜斌)*, C. Diao, B. Zhao, and X. Zhang, “Nonlinear Robust Output Feedback Tracking Control of a Quadrotor UAV Using Quaternion Representation”, Nonlinear Dynamics, Vol. 79, No.4, pp. 2735-2752, March 2015. (SCI, EI, 2区)

(20) B. Xian(鲜斌)*, J.C. Guo, Y. Zhang, and B. Zhao, “Sliding Mode Tracking Control For Miniature Unmanned Helicopters”, Chinese Journal of Aeronautics, Vol.28, No.1, pp. 277-284, February 2015. (SCI, EI, 4区)

(21) 鲜斌*,古训,刘祥,王福,刘世博,“小型无人直升机姿态非线性鲁棒控制设计”,控制理论与应用,Vol.31, No.4, pp.409-416, 2014年4月. (EI) 20142317795718.

(22) 张垚,鲜斌*,于琰平,赵勃,“四旋翼无人机可视化半实物仿真平台研究”,仪器仪表学报, Vol. 33, No. 11, pp.2572-2578, 2012年11月. (EI)

(23) X.D. Li, B. Xian(鲜斌) *, C. Diao, Y.P. Yu, K.Y. Yang, and Y. Zhang, “Output Feedback Control of Hypersonic Vehicles based on Neural Network and High Gain Observer”, Science China-Information Sciences, Vol.54, No.3, pp.429-447, March 2011. (SCI, 4区)

(24) B. Xian(鲜斌)*, D. M. Dawson, M.S. de Queiroz, and J. Chen, “A Continuous Asymptotic Tracking Control Strategy for Uncertain Multi-Input Nonlinear Systems”, IEEE Transaction on Automatic Control, Vol. 49, No. 7, pp. 1206-1211, July 2004.(SCI, EI, 2区,机器人领域国际顶级期刊)

(25) B. Xian(鲜斌)*, M.S. de Querioz, D. M. Dawson, and M. L. McIntyre, “A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems”, Automatica, Vol. 40, No. 4 pp. 695-700, Apr. 2004. (SCI, EI, 2区)

(26) B. Xian(鲜斌)*, N. Jalili, D. M. Dawson, and Y. Fang, “Adaptive Tracking Control of Linear Uncertain Mechanical Systems in Presence of Unknown Sinusoidal Disturbances”, ASME Journal of Dynamic Systems, Measurements and Control, Vol. 125, pp. 129-134, March 2003. (SCI, EI, 3区)

(27) B. Xian(鲜斌)*, M.S. de Queiroz, D. M. Dawson, and I. Walker, “Task-Space Tracking Control of Redundant Robot Manipulators via Quaternion Feedback”, IEEE. Transactions on Robotics and Automation, Vol. 20, No. 1, pp.160-167, Feb. 2004. (SCI, EI, 2区,自动化领域国际顶级期刊)

代表性学术论著:

(1) A. Behal, W. E. Dixon, D. M. Dawson, and B. Xian(鲜斌), “Lyapunov-Based Control of Robotic Systems”, CRC Press Taylor&Francis Group, Dec 17, 2009, ISBN-10: 0849370256,ISBN-13: 978-0849370250.

(2) (图书章节)B. Xian(鲜斌), M. S. de Queiroz, and D.M. Dawson, “A Continuous Control Mechanism for Uncertain Nonlinear Systems”, in Optimal Control, Stabilization, and Nonsmooth Analysis, pp. 251-262, Heidelberg, Germany: Springer-Verlag, 2004.

授权发明专利:

(1) 鲜斌,宋英麟,茹滨超,“基于梯度下降的四旋翼无人机姿态航向参考系统解算方法”,发明专利,专利号: ZL201310272266.7

(2) 鲜斌,刁琛,张垚,“一种四旋翼无人飞行器非线性输出反馈飞行控制方法”,发明专利,专利号: ZL201310272336.9

(3) 鲜斌,赵勃,黄国平,“基于DSP的四旋翼无人飞行器自主悬停控制系统及方法”,发明专利,专利号: ZL2013102721789.5

(4) 鲜斌,刘洋,张旭,“基于光流的四旋翼无人机飞行控制方法”,发明专利,专利号: ZL201310273211.8

(5) 鲜斌,刘世博,张垚,赵勃,“神经网络与非线性连续无人直升机姿态控制方法”,发明专利,专利号: ZL201410044087.2

(6) 鲜斌,王福,张垚,张旭,“基于模糊前馈单旋翼无人直升机姿态非线性鲁棒控制方法”,发明专利,专利号: ZL201410043474.4

(7) 鲜斌,张垚,茹滨超,宋英麟,“基于激光雷达的四旋翼无人机自主定位及控制方法”,发明专利,专利号: ZL201410057861.3

(8) 鲜斌,鲜斌,古训,张垚,刘祥,“无人直升机姿态非线性控制方法及验证平台”,发明专利,专利号: ZL201410074443.5

(9) 鲜斌,郑国周,“基于多传感器信息融合的小型旋翼无人机高度测量方法”,发明专利,专利号:ZL2014107090916.6

(10) 鲜斌,曹美会,张旭,“基于视觉SLAM的四旋翼无人机全自主飞行控制方法”,国家发明专利,专利号:ZL201410270505.X

(11) 鲜斌,张垚,刘洋, “一种基于高增益观测器的高超声速飞行器非线性控制方法”,发明专利,专利号:ZL201310530708.3

(12) 鲜斌,郝伟, “针对四旋翼无人机执行器部分失效的容错控制方法”,发明专利,专利号:ZL 201510374421.5

(13) 鲜斌,曹美会,“基于GPS与光流传感器数据融合的无人机定位方法”,发明专利,专利号:ZL 201510104096.0

(14) 鲜斌,周海雷,“无人直升机姿态误差有限时间收敛非线性鲁棒控制方法”,发明专利,专利号:ZL 201510388507.3

(15) 鲜斌,姜鑫燃,“小型无人直升机的姿态非线性自适应控制方法”,发明专利,专利号:ZL 201510357429.0

(16) 鲜斌,金鑫,“加速度与光流传感器数据融合无人机水平速度控制方法”,发明专利,专利号:ZL 201510789452.7

(17) 鲜斌,黄健,“小型无人直升机的姿态误差快速收敛自适应控制方法”,发明专利,专利号:ZL 201510808975.1

(18) 鲜斌,周海雷,“小型无人直升机无动力学模型结构自适应姿态控制方法”,发明专利,专利号:ZL 201610019559.8

(19) 鲜斌,查君浩,“用于四旋翼无人机电机的滑模控制方法”,发明专利,专利号:ZL 201610915256.4

(20) 鲜斌,金鑫,“倾转式三旋翼无人机姿态与高度自适应鲁棒控制方法”,发明专利,专利号:ZL 201611032392.5

(21) 鲜斌,郝伟,“基于观测器的四旋翼无人机容错控制方法”,发明专利,专利号:ZL 201611062267.9

(22) 鲜斌,郑国周,“用于无人机悬挂负载系统的抗扰控制方法”,发明专利,专利号:ZL 201710056423.9

(23) 鲜斌,郝伟,“针对三旋翼无人机舵机堵塞故障的容错控制方法”,发明专利,专利号:ZL 201710135783.8

(24) 鲜斌,杨森,“基于部分反馈线性化四旋翼无人机吊挂飞行控制方法”,国家发明专利,专利号:ZL 201710185732.6

主要讲授课程:

(1) 自动控制原理A(本科生)

(2) 机器人学导论(英) (双语教学)(本科生)

(3) 非线性控制系统设计(博士生)

主要学术成就、奖励及荣誉:

(1) 2019:天津市自然科学二等奖,“微小型无人机智能自主控制研究”,排名第一

(2) 2013:天津市“131”人才培养计划

(3) 2013:天津大学“北洋青年学者”人才培养计划

(4) 2012:天津市第十二届“天津青年五四奖章”

(5) 2009:教育部“新世纪优秀人才支持计划”

其他(社会兼职等):

(1) 2008.01-至今:IEEE, Senior Member

(2) 2001.01-至今:IEEE Control System Society, Member

(3) 2015.01-至今:ASME, Member

(4) 2012.01-至今:中国自动化学会智能自动化专业委员会,委员

(5) 2014.01-至今:中国人工智能学会智能产品与产业工作委员会,委员

(6) 2010.0-至今:中国国家留学基金管理委员会,评审专家

(7) 2009.01-至今:中国国家自然科学基金,评审专家

(8) ASME Journal of Dynamics, Measurement, and Control等期刊编委

实验室具有良好的无人机、移动机器人等机械电子系统实验条件和良好的嵌入式实时控制系统开发条件。每年招收硕士研究生与博士研究生,欢迎控制科学与工程专业、机械工程专业等相关专业的优秀学生报考。