师资队伍

教师名录

乔磊

船舶与海洋工程系

电子邮件:qiaolei@sjtu.edu.cn
通讯地址:上海市闵行区东川路800号上海交通大学水下工程实验大楼S201室

工作经历

20204-至今, 上海交通大学,长聘教轨助理教授,博士生导师

 

教育经历

2014-2020年, 上海交通大学,自动化系,获博士学位

2017-2018年,俄亥俄州立大学(The Ohio State University),电气与计算机工程系,联合培养博士

2012-2014年,哈尔滨工程大学,自动化系(陈赓班),获硕士学位

2008-2012年,哈尔滨工程大学,自动化学院(陈赓班),获学士学位

 

招生信息:今年预计招收硕士研究生2名与博士研究生1名,可供选择的研究方向(不仅限于)如下:

1. 水下机器人航迹跟踪与高速避障控制

-合作单位:美国俄亥俄州立大学、英国爱丁堡大学

2. 多海洋机器人协同控制与博弈策略研究

-合作单位:新加坡南洋理工大学、德国图宾根大学

3. 多元约束条件下水下机器人智能路径规划

-合作单位:加拿大卡尔顿大学、交大电院自动化系

4. 基于声纳/视觉的水下机器人智能导航定位

-合作单位:英国国家海洋中心、英国南安普顿大学、美国加州大学-圣地亚哥、香港科技大学、交大电院自动化系

 

实验室将为学生提供科研所需的优越软硬件条件、自由愉悦的科研环境、广泛的国际合作渠道、以及丰富的文体活动(我本人爱打球、健身、跑步)。支持学生参加国内外高水平国际会议、去国外高校进行短期交流以及参加国内外高水平比赛,指导学生发表高水平论文,并尽可能为学生提供就业机会。实验室将按月向学生发放基本助研酬金,并视学生科研成果产出情况逐步上调助研酬金或给予年终一次性科研奖励。如学生打算出国深造,将尽可能为学生提供推荐和帮助。

实验室注重理论与实际相结合,但也支持学生按个人兴趣发展,如从事单独的理论或工程技术研究。将根据学生对自己未来的发展规划有针对性地设计培养方案。本课题组的研究内容希望学生学过自动控制原理或线性控制理论等与控制理论相关的基础课程,有较强的Matlab/Python/C语言编程能力/工程实践能力。尤为欢迎有相关研究积累的学生,如发表过相关论文或参加过实践类比赛的学生。希望学生热爱科研、有理想、肯努力。我会在学生实现理想的道路上竭尽所能提供帮助。

如感兴趣,欢迎联系。让我们共同努力,推进海洋机器人智能化的发展!!!

1. 海洋机器人智能导航与控制

2. 多海洋机器人协同与博弈

3. 新概念与仿生海洋机器人

4. 机器人与无人自主系统的控制与学习方法

1. 《应用科技》-青年编委;

2. 第七届自动化、控制和机器人工程国际会议(CACRE)-国际技术委员会委员;

3. 计算机视觉顶会ICCV中第二届Autonomous Vehicle Vision workshop-程序委员会委员;

4. 计算机视觉权威会议WACV中第一届Autonomous Vehicle Vision workshop-程序委员会委员;

5. IEEE第八届国际水下系统与技术会议(IEEE USYS-水下机器人控制分会共同主席;

6. 第十七届国际智能自主系统会议(IAS-17)-专题“Advanced and intelligent control design for underwater robots”组织者;

7. IEEE第十一届国际信息科学与技术会议(IEEE ICIST)-专题“Control, Optimization, Learning and Games for Marine Robotics”组织者;

8. IEEE Member

9. 中国自动化学会会员;

10. 中国造船工程学会会员;

11. 船海及控制领域多个SCI期刊的审稿人,包括:

   IEEE Transactions on Industrial Informatics

   IEEE Transactions on Industrial Electronics

   IEEE Transactions on Cybernetics

   IEEE Journal of Oceanic Engineering

   IEEE Transactions on Control Systems Technology

   IEEE/ASME Transactions on Mechatronics

   IEEE Transactions on Fuzzy Systems

   IEEE Transactions on Automation Science and Engineering

   IEEE Transactions on Systems, Man, and Cybernetics: Systems

   IEEE Transactions on Circuits and Systems I: Regular Papers

   IEEE Transactions on Circuits and Systems II: Express Briefs

   IEEE Transactions on Vehicular Technology

   IEEE Transactions on Transportation Electrification

   IEEE Transactions on Intelligent Vehicles

   IEEE Transactions on Aerospace and Electronic Systems

   IEEE Journal of Emerging and Selected Topics in Power Electronics

   IET Control Theory and Applications

   Ocean Engineering

   International Journal of Robust and Nonlinear Control

   ISA Transactions

   Nonlinear Dynamics

   Applied Ocean Research

   Cyber-Physical Systems

   ASME Journal of Dynamic Systems, Measurement and Control

   International Journal of Control

   Journal of the Franklin Institute

   The Journal of Navigation

   Ships and Offshore Structures

   International Journal of Adaptive Control and Signal Processing

   Mechanical Systems and Signal Processing

   Asian Journal of Control

   Advances in Engineering Software

   International Journal of Advanced Robotic Systems

1. 中国科协青年人才托举工程项目,主持;

2. 国家自然科学基金青年项目,主持;

3. 中核集团领创科研项目,主持;

4. 中核集团青年英才启明星项目,主持;

5. 上海市科技创新行动计划扬帆计划项目,主持;

6. 海洋工程国家重点实验室开放基金项目,主持;

7. 上海交通大学双一流建设项目人才科研启动/配套经费,主持;

目前已在国际期刊和会议上发表(含在线)论文32篇(SCI论文20篇),其中包括以第一/通信作者在IEEE TIIIEEE JOEOE等期刊上发表论文12篇,其中4论文入选ESI1%高被引论文1论文入选ESI0.1%热点论文,以第一作者身份获国际自动控制权威期刊IET CTA最佳论文奖上海市自动化学会最佳论文奖,并获得第六届自动化、控制和机器人工程国际会议(CACRE)最佳学生论文奖。目前Google Scholar引用930余次。曾在MIT、上海交大、华中科大、中山大学等高校做学术报告。

Google Scholar: https://scholar.google.com/citations?user=m8LhY94AAAAJ&hl=zh-CN

在审的论文:

[1] "Adaptive output feedback super twisting algorithm for tracjectory tracking control of USVs with saturated constraints," Ocean Engineering, Revison requst, 2022.

[2] "Terrain-assisted navigation of long-range AUV based on intelligent particle filter," Asian Control Conference, Submitted, 2022.


代表性期刊论文(*为通信作者):

[1] Lei Qiao and Weidong Zhang, "Trajectory tracking control of AUVs via adaptive fast nonsingular integral terminal sliding mode control," IEEE Transactions on Industrial Informatics, vol. 16, no. 2, pp. 1248-1258, 2020. (上海市自动化学会2020年度最佳论文奖ESI热点论文ESI高被引论文)

[2] Lei Qiao and Weidong Zhang, "Adaptive non-singular integral terminal sliding mode tracking control for autonomous underwater vehicles," IET Control Theory and Applications, vol. 11, iss. 8, pp. 1293-1306, 2017. (2019 IET Control Theory & Applications Premium Award-最佳论文奖ESI高被引论文)

[3] Lei Qiao and Weidong Zhang, "Adaptive second-order fast nonsingular terminal sliding mode tracking control for fully actuated autonomous underwater vehicles," IEEE Journal of Oceanic Engineering, vol. 44, no. 2, pp. 363-385, 2019. (ESI高被引论文)

[4] Lei Qiao and Weidong Zhang, "Double-loop integral terminal sliding mode tracking control for UUVs with adaptive dynamic compensation of uncertainties and disturbances," IEEE Journal of Oceanic Engineering, vol. 44, no. 1, pp. 29-53, 2019. (ESI高被引论文)

[5] Lei Qiao, Min Zhao, Chao Wu, Tong Ge, Rui Fan, and Weidong Zhang, "Adaptive PID control of robotic manipulators without equality/inequality constraints on control gains," International Journal of Robust and Nonlinear Control, 2021.

[6] Lei Qiao, Shitao Ruan, Guoqing Zhang, and Weidong Zhang, "Robust H2 optimal depth control of an autonomous underwater vehicle with output disturbances and time delay," Ocean Engineering, vol. 165, pp. 399-409, 2018.

[7] Lei Qiao, Bowen Yi, Defeng Wu, and Weidong Zhang, "Design of three exponentially convergent robust controllers for the trajectory tracking of autonomous underwater vehicles," Ocean Engineering, vol. 134, pp. 157-172, 2017.

[8] Yu Lu, Rong Su, Chengxi Zhang, and Lei Qiao*, "Event-triggered adaptive formation keeping and interception scheme for autonomous surface vehicles under malicious attacks," IEEE Transactions on Industrial Informatics, Accepted, 2021.

[9] Xiaotong Cheng, Yu Lu, Lei Qiao*, Zhihuan Hu, and Weidong Zhang*, "Multi-task cooperative formation control of autonomous surface vessels with interception of moving objects," IEEE Journal of Oceanic Engineering, Accepted, 2021.

[10] Yu Lu, Xinli Xu, Lei Qiao*, and Weidong Zhang*, "Robust adaptive formation tracking of autonomous surface vehicles with guaranteed performance and actuator faults," Ocean Engineering, vol. 237, pp. 109592, 2021.

[11] Jianyu Liu, Min Zhao, and Lei Qiao*, "Adaptive barrier Lyapunov function-based obstacle avoidance control for an autonomous underwater vehicle with multiple static and moving obstacles," Ocean Engineering, vol. 243, pp. 110303, 2022.

[12] Rui Fan, Hengli Wang, Peide Cai, Jin Wu, Mohammud Junaid Bocus, Lei Qiao, and Ming Liu, "Learning collision-free space detection from stereo images: Homography matrix brings better data augmentation," IEEE/ASME Transactions on Mechatronics, Online, 2021.

[13] Zehua Jia, Lei Qiao, and Weidong Zhang, "Adaptive tracking control of unmanned underwater vehicles with compensation for external perturbations and uncertainties using Port-Hamiltonian theory," Ocean Engineering, vol. 209, pp. 1-13, 2020.

[14] Yu Lu, Guoqing Zhang, Lei Qiao, and Weidong Zhang, "Adaptive output-feedback formation control for underactuated surface vessels," International Journal of Control, vol. 93, no. 3, pp. 400-409, 2020.

[15] Bowen Yi, Lei Qiao, and Weidong Zhang, "Two-time scale path following of underactuated marine surface vessels: design and stability analysis using singular perturbation methods," Ocean Engineering, vol. 124, pp. 287-297, 2016.

[16] Jian Xu, Man Wang, and Lei Qiao, "Dynamical sliding mode control for the trajectory tracking of underactuated unmanned underwater vehicles," Ocean Engineering, vol. 105, pp. 54-63, 2015. (Most Cited Ocean Engineering Articles since 2015, extracted from Scopus)

代表性会议论文:

[1] Lei Qiao and Weidong Zhang, "Fast trajectory tracking control of underactuated autonomous underwater vehicles," in Proceedings of the IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS), Wuhan, China, Dec. 1-3, 2018, pp. 1-6.

[2] Lei Qiao and Weidong Zhang, "Double-loop chattering-free adaptive integral sliding mode control for underwater vehicles," in Proceedings of the MTS/IEEE Oceans Conference (OCEANS), Shanghai, China, April 10-13, 2016, pp. 1-6.

[3] Qiao Lei, Zhang Lixing, and Zhang Weidong, "Robust adaptive PID control for positioning of remotely operated vehicle working in close proximity of an underwater structure," in Proceedings of the 35th Chinese Control Conference (CCC), Chengdu, China, July 27-29, 2016, pp. 5780-5785.

[4] Bin Lin, Lei Qiao, Zehua Jia et al., "Control strategies for target-attacker-defender games of USVs," in Proceedings of the International Conference on Automation, Control and Robotics Engineering (CACRE), Dalian, China, July 15-17, 2021. (Best Student Paper Award-最佳学生论文奖)

[5] Xiaotong Cheng, Yu Lu, Lei Qiao, and Weidong Zhang, "Adaptive cooperative formation control of autonomous surface vessels with interception of moving objects," in Proceedings of the Global Oceans 2020: Singapore–US Gulf Coast, Biloxi, MS, USA, October 5-30, 2020.

[6] Rui Fan, Yuan Wang, Lei Qiao, Ruiwen Yao, Peng Han, Weidong Zhang, Ioannis Pitas, and Ming Liu, "PT-ResNet: perspective transformation-based residual network for semantic road image segmentation," in Proceedings of the IEEE International Conference on Imaging Systems and Techniques (IST), Abu Dhabi, United Arab Emirates, December 9-10, 2019, pp. 1-5.

[7] Zhixin Wu, Peng Han, Ruiwen Yao, Lei Qiao, Weidong Zhang, Tielong Shen, Min Sun, Yilong Zhu, Ming Liu, and Rui Fan, "Autonomous UAV landing system based on visual navigation," in Proceedings of the IEEE International Conference on Imaging Systems and Techniques (IST), Abu Dhabi, United Arab Emirates, December 9-10, 2019, pp. 1-6.

[8] Zhang Lixing, Qiao Lei, Chen Jianliang, and Zhang Weidong, "Neural-network-based reinforcement learning control for path following of underactuated ships," in Proceedings of the 35th Chinese Control Conference, Chengdu, China, July 27-29, 2016, pp. 5786-5791.

[9] Xu Jian, Wang Man, and Qiao Lei, "Control of fully actuated UUV using a linear interpolation approach," in Proceedings of the 33rd Chinese Control Conference, Nanjing, China, July 28-30, 2014, pp. 2058-2063.

《自动控制原理》,课程助教。

目前申请发明专利8项,其中授权6项。

2022 第七届中国科协青年人才托举工程

2021 上海市青年科技英才扬帆计划

2021 中核集团青年英才启明星计划

2021 上海市自动化学会优秀博士学位论文奖

2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE) Best Student Paper Award (最佳学生论文奖)

2020 上海市自动化学会年度最佳论文奖

2020 上海市博士优秀毕业生

2019 IET Control Theory & Applications Premium Award(最佳论文奖)

2018 Advances in Engineering Software期刊Outstanding Reviewer (杰出审稿人)

2017 博士国家奖学金

2014 黑龙江省三好学生

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