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师资队伍

田栢苓

Date:2024年05月09日

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D324

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RALAutomaticaTACTIETIITSMC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): 7058–70652023.

[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 VehicleIEEE Transactions on Industrial Electronics69(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 Electronics69(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 Electronics69(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 ConfrontationIEEE Transactions on Emerging Topics in Computational Intelligence10.1109/TETCI.2024.33602822024.

[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 ControlIEEE 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 AlgorithmIEEE 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 faultsIEEE 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 ProgrammingIEEE Transactions on Neural Networks and Learning Systems, DOI: 10.1109/TNNLS.2022.31800542022.

[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):759-7682022.

[44];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,2020,41S2:724245.

[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,202041(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): 1627-16412022.

 

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,20220830

[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,2022126

[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,2022122

[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,20230221

[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,20230314

[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,20230721

[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,20230922

[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,20231219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:

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