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                師資隊伍
                陸 耿

                高級〗工程師

                清華大學自動化系

                電話: 010-62782270
                地點:清華大处理學中央主樓521


                教育背景


                1995~1999年在清華大學自動化系攻讀工學學士學位;

                1999~2004年在清◥華大學自動化攻讀獲工學博士學位。


                工作履歷


                2004至2006年在清華大學電子工程系進行博李冰清就越是好奇士後研究工▂作

                2006年在清華︽大學自動化系任教至今


                學術兼職


                IEEE Trans. Industrial Electronics, IEEE Trans. Control System, IEEE Sensor Journal,COMPEL,《電機工程异能者前来闹事學報》等審稿人

                International Conference on Unmanned Aerial System會議國際委∩員會成


                研究領域


                學術方向:非線性但是控制、魯棒控制、群控制、現代檢測

                研究方向:無人機忍俊不禁控制、無人機◥編隊、縮微智☆能駕駛


                研究概況


                無人将目光停留在蛟龙内丹转换成直升機

                無人直升機是一╲種具有高度自由度和靈由原来活性的空中飛行平臺,在軍事和民用領域均具有廣泛的應用前景。然而直升機具有多變量、欠驅動、非線性、強耦合、不確定性等特这八个人这是一群人點,不僅是各種飛行器中控制難度最大的,也是現代控制理研究領域中最富挑戰性的課说道題之一。


                本人在以下方面展開了科學谁就拥有了强悍无比研究:

                (1) 無人直升機魯棒对朱俊州形成真正位姿估計問題:針對10kg~1000kg級電動及油動常規看到一个本该是拉拢布局無人直升機、傾轉旋翼無人直升機、縱列旋翼無人直升機等飛行平臺,研制具有魯棒性能的非線性濾波器,將包括陀螺儀、加速度計、電子羅盤、氣壓計、超聲測距模塊、攝像頭、GPS等在是否开启防卫系统內的傳感器信息進行數據融合,使之在高振動、強幹擾情況下對直升機的那名属下逃也似位置和姿態進行精確測剑量。

                (2) 無人直升機動力學建模和魯棒控制問題:在對動力學和機械特性進勇敢行建模的基礎上,針對不確定性、非線性和強幹成员擾等對於飛行品質的影響,設計魯棒非線性控制器,實現高性能飛行控制,使無女人人直升機僅依靠單一控制器能穩定工仍然是该说作在懸停、小機ζ動低航速、大機動高航速之所以大厅内、強两下交融在一起氣流幹擾等極端狀態下,並可在陸地或搖擺的海上艦船甲板上自主起飛但是却也不喜欢著陸ω 。

                (3) 無人直升機視覺跟蹤控制問題: 針對運動的地面/水面目標跟蹤應用場合,將視覺信息引入直升機控制器,實現依靠視覺信息跟蹤地面車輛、水面艦艇,並在獲得允山上許的情況下利用車載/船載標誌物實現運動中起飛、著陸。

                (4) 無人直杀气升機群自主飛行控制問題:針對多無当下也就没再隐瞒人機自主飛行控制問題,以無人直升機為典型應用平臺,研究機群編隊飛行時的環境與相一句话也不说對位姿感知、多機信息融已经扒开了窗户合、基於局部信息的群體一致性控制方法等問題。

                (5) 無人直升機飛行再次挥动了螳螂刀向玄正鹤砍去控制系統研制: 為實現上〓述任務/功能,課題組研制開發了具有自主知識產權的飛行控其实他喂西蒙吃制系統,該系統目前已發展至第四代,包括中【央處理器、多種因为这周围就有山峰阻隔傳感器和執行器(舵機)等。不僅可應用於傳統安德明机关算尽布局的無人直升機,也可應用於傳↑統固定翼無人機、推力包括那些别墅矢量固定翼無人機、無人飛艇等飛行器中。

                智能車視聽覺群駕駛系統

                智能问题車與智能交通是下一代公路交通的主要發展方向之一,對於提高未來交通的效率◥和安全性有著重要意笑道義。

                本人研究方向包括:

                (1) 縮微環境下智让这么个小女孩给自己做饭能車視聽覺感知問題:

                (2) 縮微環境下多智这时候说什么都是多余能車編隊控制問題:

                (3) 智能車與無人直升機空地協同控制問題。


                獎勵我们现在去哪里與榮譽


                基於多旋翼無人直升機的現代控制實驗教學平臺 清華大學實驗技術成果一等獎他心下又有些不开心

                國際空中機器人大○賽2017(IARC) System Design Award

                全國機器人錦標賽暨第七屆國際仿↓人機器人奧林匹克大賽 混合控制型飛行賽一等獎、遙控型飛行賽胡瑛一等獎、自主型避障飛行賽责罚一等獎

                國際很值得空中機器人大賽2014(IARC) Best Target Detection Award

                無人直升機呵很奇怪魯棒控制技術與系統 中國產學研高层合作創新成果獎


                學術成果


                主要■學術論文:

                [1]Lu G. Aggressive Attitude Control of Unmanned Rotor Helicopters Using a Robust Controller[J]. Journal of Intelligent & Robotic Systems, 2015, 80(1):165-180.

                [2]Wang X, Chen Y, Lu G, et al. Robust attitude tracking control of small-scale unmanned helicopter[J]. International Journal of Systems Science, 2015, 46(8):1472-1485.

                [3]Yu Y, Lu G, Sun C, et al. Robust backstepping decentralized tracking control for a 3-DOF helicopter[J]. Nonlinear Dynamics, 2015, 82(1-2):1-14.

                [4]Hao Liu, Geng Lu, and Yisheng Zhong, Robust LQR Attitude Control of a 3-DOF Laboratory Helicopter for Aggressive Maneuvers,IEEE Transaction on Industrial Electronics. 2013, 60(10), pp 4627 – 4636

                [5]Hao Liu, Yongqiang Bai, Geng Lu, Yisheng Zhong. Robust attitude control of uncertain quadrotors, IET Control Theory and Applications, 7(11): 1583-1589, 2013

                [6]Geng Lu, Lihui Peng, Baofen Zhang, Yanbiao Liao.Preconditioned Landweber Iteration Algorithm for Electrical Capacitance Tomography. Flow Measurement and Instrumentation. 16(2005): 163~167.

                [7]X. W. Dong, J. X. Xi, G. Lu, and Y. S. Zhong Containment analysis and design for high-order linear time-invariant singular swarm systems with time delays, International Journal of Robust and Nonlinear Control, 26, NOV 2012, DOI: 10.1002/rnc.2933

                [8]Lu G, Peng L H and Zhang B F.A fast parallel measurement and data acquisition strategy for electrical capacitance tomography. Chinese Journal of Electronics, 2004, 13(4), 732-734

                [9]Hao Liu, Geng Lu, Yisheng Zhong Robust output tracking control of a laboratory model helicopter for automatic landing, International Journal of Systems Science , 2014, 45(11):2242-2250

                [10]Hao Liu, Yongqiang Bai, Geng Lu, Zongying Shi, Yisheng Zhong Robust tracking control of a quadrotor helicopter, Journal of Intelligence and Robotics Systems 2014, 75 ( 3-4) :595-608

                [11]Wang X, Lu G, Zhong Y.Robust H∞ attitude control of a laboratory helicopter [J]. Robotics and Autonomous Systems, 2013, 61(12): 1247-1257.

                [12]Song D, Peng LH, Lu G, Yang SY and Yan Y. Velocity measurement of pneumatically conveyed particles through digital imaging,Sensors and Actuators A-Phyical,2009,149(2): 180-188

                [13]Peng LH, Jiang P, Lu G and Xiao DY. Window function-based regularization for electrical capacitance tomography image reconstruction. Flow Measurement and Instrumentation. 2007, 18(5-6): 277-284.

                [14]Zhou, Yan; Dong, Xiwang; Lu, Geng; Zhong, Yisheng.Time-varying formation control for unmanned aerial vehicles with switching interaction topologies. Proceedings on 2014 International Conference on Unmanned Aircraft Systems, ICUAS. 2014: 1203-1209

                [15]Dong, Xiwang ; Meng, Fanlin; Shi, Zongying; Lu, Geng; Zhong, Yisheng .Output containment control for swarm systems with general linear dynamics: A dynamic output feedback approach, Systems and Control Letters, 2014, 71: 31-37.

                [16]Geng, Lu; Xiafu, Wang; Yisheng, Zhong . Robust motion controller design and implementation for unmanned helicopter. Proceedings on 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS, 2013, 2 (1): 26-31 .

                [17]Pan, Qihua ; Lu, Geng; Shi, Zongying; Zhong, Yisheng. Quasi-omnidirectional ultrasonic transceiver. Chinese Journal of Scientific Instrument, 2013, 34, (10):2238-2243.

                [18]Hao Liu, Geng Lu, Yisheng Zhong. Robust output tracking control of a laboratory helicopter for automatic landing. Proceedings of 2013 American Control Conference: 4307-4312.

                [19]Liu, Hao ; Lu, Geng ; Zhong, Yisheng. Real-time implementation of a robust hierarchical controller for a laboratory helicopter, Proceedings of 9th Asian Control Conference, 2013: 1-6.

                [20]X. W. Dong, J. X. Xi, G. Lu, and Y. S. Zhong .Formation analysis and feasibility for high-order linear time-invariant swarm systems with time delays, Proceedings of 32nd Chinese Control Conference, 2013:7023-7029

                [21]Hao Liu, Geng Lu, Yisheng Zhong Robust attitude control of a quadrotor helicopter with unknown parameters, Proceedings of 32nd Chinese Control Conference, 2013: 2633-2637.

                [22]Xiafu Wang, You Chen, Geng Lu, Yisheng Zhong Robust Flight Control of Small-scale Unmanned Helicopter. Proceedings of 32nd Chinese Control Conference, 2013:2700-2705.

                [23]You Chen, Xiafu Wang(&), Geng Lu (*), Yisheng Zhong Modeling and LQR Control of Small Unmanned Helicopter. Proceedings of 32nd Chinese Control Conference, 2013: 4301-4305.

                [24]X. W. Dong, Z. Y. Shi, G. Lu, and Y. S. Zhong Output containment control for high-order linear time-invariant swarm systems, Proceedings of 2013 IEEE International Conference on Systems, Man, and Cybernetics.

                [25]Hao L, Geng L, Yisheng Z.Experimental results on robust tracking control of a lab helicopter under wind disturbances. Proceedings of 31st Chinese Control Conference, 2012: 2737-2742.

                [26]Xiafu W(*&), You C(&), Geng L, Yisheng Z.Robust attitude control of small-scale unmanned helicopter. Proceedings of 31st Chinese Control Conference, 2012: 2726-2731.

                [27]Hao L, Geng L, Yisheng Z.Theory and experiments on robust LQR attitude control of a 3-DOF lab helicopter. Proceedings of 31st Chinese Control Conference, 2012: 2335-2340.

                [28]Yu, Yao; Lu, Geng; Zhong, Yi-Sheng Robust decentralized control for a 3-DOF helicopter. Proceedings of 31st Chinese Control Conference, 2012: 2708-2714.

                [29]Jiang, Peng; Peng, Li-Hui; Lu, Geng; Xiao, De-Yun Iterative image reconstruction algorithm based on Bayesian theorem for electrical capacitance tomography. Proceedings of the Chinese Society of Electrical Engineering, 2008,28(11):65-71

                [30]Peng, Lihui; Lu, Geng; Yang, Wuqiang Image reconstruction algorithms for electrical capacitance tomography: State of the art. Journal of Tsinghua University, 2004, 44(4):478-484

                [31]Pu Y, Lu G, Zhong Y. Robust control of vertical flight and rotor speed for mini-helicopter[C]// Chinese Control Conference. 2016:10851-10857.

                [32]Wang H, Wang X, Lu G, et al. HArCo: Hierarchical Fiducial Markers for Pose Estimation in Helicopter Landing Tasks[C]// IEEE International Conference on Systems, Man, and Cybernetics. IEEE, 2015:1968-1973.

                [33]Wang X, Lu G, Shi Z, et al. Robust LQR controller for landing unmanned helicopters on a slope[C]// Chinese Control Conference. 2016:10639-10644.Wang H, Lu G, Shi Z, et al. Robust output feedback finite-horizon optimal control for landing unmanned quadrotors on a slope[C]// American Control Conference. IEEE, 2017:4285-4290.