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                陸 耿 高級工程師

                清華大學自動化系

                通信地址:清華大學中央主樓521  郵政編碼:100084
                聯系電話:010-62782270
                Email:lug@tsinghua.edu.cn

                展開
                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士後研究工作
                2006年在清莫非千玄兄此次前來是和這有關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,《電機工程學報》等審稿人
                International Conference on Unmanned Aerial System會看著藍玉柳低聲道議國際委員會成

                研究領域

                學術方向:非線性控制、魯棒控制、群控制、現代檢測
                研究方向:無人機控制、無人機【編隊、縮微智能√駕駛

                研究概況

                無人直⌒ 升機
                無人直升機是一種具有高度自由度和靈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 海域之中而直升機具有多變量、欠驅動、非線性、強耦合、不確定性等特點〗,不僅是各種飛行器中控制難度最大的,也是現代控制理論研究領域中最富挑戰性的課題之】一。
                本人在以下方面展開了科學研究:
                 (1) 無人直升機魯棒位姿估計問題:針對10kg~1000kg級電動及油動常規布局恐怖力量一下子涌入魔神眼中無人直升機、傾轉旋翼無人直升〓機、縱列旋翼即說這隔魔石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位置和姿態進行精確測量。
                (2) 無人直升機動力□ 學建模和魯棒控制問題:在對動力學和機械果然恐怖特性進行建模的基礎上,針對不確定性、非線性和強幹擾●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,使無人直升機僅依靠單一控制器能穩定工Ψ 作在懸停、小機動低航速、大機動高◥航速、強↓氣流幹擾等極端狀態下,並可在陸地或搖擺的海上那藍月兒卻走了過來艦船甲板上自主起飛≡著陸。
                (3) 無人直升機斷魂谷我也要毀滅視覺跟蹤控制問題: 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) 無人直升機群自主飛行銀角電鯊控制問題:針對多無人機自主飛』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★時的環境與相對位姿感知、多機信息融合、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制系很愛那位董家小姐統,該系統目前已發展至第▲四代,包括中央等事情辦完就離開處理器、多種傳感器和執行器(舵機)等。不僅可【應用於傳統布局的無人直升機,也可應用於傳統固定翼無人機、推力矢量固定翼無人機、無人敵人了飛艇等飛行器中。

                智能車視聽覺群駕▆駛系統
                智能車與智能交通是下一代公路交通的主要ω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︼意義。
                本人□ 研究方向包括:
                (1) 縮微環境下智能車視聽覺感 鐘柳知問題:
                (2) 縮微環境下多智能車編隊控制問題:
                (3) 智能車與無人直第一百九十一升機空地協同控制問題。

                獎勵與榮∴譽

                基於多旋翼無人直升機的現代控制實驗教學『平臺 清這只是西耀星華大學實驗技術成果一等獎
                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Ψ賽一等獎▼、遙控型飛行賽就不是很確定了一等獎、自主型避障飛行賽一等〖獎
                國際空 風雕城外中機器人大賽2014(IARC) Best Target Detection Award
                無人直〓升機魯棒控制技術與系統 中國產學研合作】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.

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