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:菠菜广告联盟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
主要经历:
(1) 2021.01-至今 菠菜广告联盟自动化系, 英才教授,博士生导师
(2) 2019.06-2020.12 菠菜广告联盟自动化系, 教授,博士生导师
(3) 2018.06-2019.06 菠菜广告联盟自动化系, 特聘研究员,博士生导师
(4) 2015.06-2018.06 菠菜广告联盟自动化系, 副教授,博士生导师
(5) 2014.06-2015.06 曼彻斯特大学控制中心, 国家公派访问学者
(6) 2011.06-2014.06 菠菜广告联盟自动化系, 讲师
(7) 2002.09-2011.06 菠菜广告联盟自动化系, 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。目前担任某领域重点项目专家组专家,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。
主要科研项目:
作为项目骨干,先后参与完成国家科技重大专项、科技部2030新一代人工智能重大项目、教育部科学技术研究重大项目、国家基金重大研究计划重点培育项目及军工项目等纵向课题30余项,承担的部分研究课题包括:
[1] 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
[2] 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
[3] 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
[4] 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
[5] 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
[6] 2017.06-2019.06 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
[7] 2017.01-2018.12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
[8] 2017.06-2018.06 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
[9] 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
[10] 2016.10-2018.10航空科学基金“面向飞行器的非线性自适应多变量有限时间控制方法研究-20165848004”,项目负责人
[11] 2013.01-2015.12国家自然科学基金青年基金“高超声速飞行器实时再入轨迹与姿态协调控制策略研究-61203012”,项目负责人
[12] 2012.09-2014.09 航空科学基金“近空间高速飞行器非线性耦合分析与高精度控制技术研究-20125848004”,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Automatica,TAC,TIE,TII,TSMC等国际知名杂志发表SCI论文100余篇,ESI高被引论文6篇,Google学术引用4100余次,出版专著1部,部分代表成果包括
[1] 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.
[2] 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.
[3] 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.
[4] 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.
[5] 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.
[6] 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.
[7] 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.
[8] 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, 2023.
[9] Bailing Tian, Pinpin Li, Hanchen Lu and Qun Zong. Distributed Pursuit of an Evader With Collision and Obstacle Avoidance, IEEE Transactions on Cybernetics, DOI:10.1109/TCYB.2021.3112572, 2021.
[10] 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.
[11] 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.
[12]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.
[13] 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
[14] 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.
[15] 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.
[16] 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.
[17] 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,2023.
[18] 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.
[19] 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.
[20] 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.
[21]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.
[22] 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.
[23] 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.
[24] 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.
[25] 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.
[26] 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.
[27] 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.
[28] 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.
[29] 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.
[30] 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.
[31] 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.
[32] 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.
[33] 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.
[34] 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.
[35]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.
[36]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.
[37]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,戴威,宗群。GNSS拒止环境下四旋翼无人机定位系统和方法,202010641883X
[18] 田栢苓,张奕恺,宗群。局部地图匹配与端到端测距的多无人机协同定位方法,202111063498.2
[19] 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
[20] 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,202111207723.5
[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,刘清朝。面向复杂环境的多无人机分布式主动协同探测方法
人员招生:
课题组有各类无人机、无人车及可重复使用运载器虚拟仿真验证平台30余套,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我们实验室。在这里,遇见更好的自己。