自主智能无人系统重大科学问题——多智能体高效协同

•  事件触发分布式控制

依托项目：国家自然科学基金面上项目，事件触发控制器的研究及其在多智能体系统中的应用

项目简介：事件触发机制的研究是控制领域热点和难点问题之一，当它与多智能体系统的应用研究相结合时，成为控制领域一个新兴的前沿课题。这类控制器的研究具有重大的科学研究意义和实际应用价值，将事件触发机制引入到多智能体的控制器设计中能进一步完善分布式控制理论体系，扩大多智能体系统在多机器人协作、智能车辆、无线传感器网络、智能微电网等工程上的应用，有利于推动智慧城市、智能建造、智能制造、智能医疗、智能交通等领域的产业发展。

•  有限时间分布式控制

简介：待添加

•  加密与安全算法研究

   子课题：自主智能系统的任务理解与规划
项目简介：面向集群系统的自主协同与稳健控制需求，开展面向复杂任务的集群系统自主协同控制算法与确保系统安全的集群系统稳健控制研究，保障集群系统的优化、安全运行。

依托项目：上海市科学技术委员会，多智能体系统自主协同的基础理论与方法

   子课题：柔性无人化仓关键技术研发与系统集成及应用示范

项目简介：针对现有仓（无锡菜鸟仓）调度粒度粗、多链路孤立、柔性差等问题，研究柔性无人化仓的设计与构建、多模态弹性并行作业模式及全链路优化。设计模块化系统流程，提出多模态并行的作业模式及高效订单合流模式，实现仓库的业务特性和订单量动态自调节，仓库的产能和出库量最大化及根据业务需求变化不断自我演化，开展应用验证与示范。

学术成果归纳

1. 多体群聚问题

2. 合作输出调节问题

3. 欠驱动多体编队问题

1. Y. Dong, J. Chen, and J. Huang*, Cooperative robust output regulation problem for second-order nonlinear multiagent systems with an unknown exosystem, IEEE Transactions on Automatic Control, vol. 63, no. 10, pp. 3418–3425, 2018.

2. Y. Dong, Y. Su*, Y. Liu and S. Xu, An internal model approach for multi-agent rendezvous and connectivity preservation with nonlinear dynamics, Automatica, vol. 89, pp. 300-307, 2018.

3.  Y. Dong and J. Huang*, A leader-following rendezvous problem of double integrator multi-agent systems, Automatica, vol. 49, no. 5, pp. 1386-1391, 2013.

4. Y. Dong and J. Huang*, Cooperative global output regulation for a class of nonlinear multi-agent systems, IEEE Transactions on Automatic Control, vol. 59, no. 5, pp. 1348-1354, 2014.

5. Y. Dong and J. Huang*, Leader-following connectivity preservation rendezvous of multiple double integrator systems based on position measurement only, IEEE Transactions on Automatic Control, vol. 59, no. 9, pp. 2598-2603, 2014.

6. Y. Dong and J. Huang*, Flocking with connectivity preservation of multiple double integrator systems subject to external disturbances by a distributed control law, Automatica, vol. 55, pp. 197-203, 2015

7. Y. Dong* and J. Chen, Adaptive control for rendezvous problem of networked uncertain Euler-lagrange systems, IEEE Transactions on Cybernetics, vol. 49, no. 6, pp. 2190-2199, 2019.

8. Y. Dong* and S. Xu, Cooperative output regulation problem of nonlinear multi-agent systems

with proximity graph via output feedback control, IEEE Transactions on Cybernetics, 10.1109/TCYB.2019.2955717.

9. Y. Dong* and S. Xu, Rendezvous with connectivity preservation problem of linear multiagent systems via parallel event-triggered control strategies, IEEE Transactions on Cybernetics, DOI:10.1109/TCYB.2020.3021788.

10. Y. Dong* and S. Xu, A novel connectivity-preserving control design for rendezvous problem of networked uncertain nonlinear systems, IEEE Transactions on Neural Networks and Learning Systems, 10.1109/TNNLS.2020.2964017.

11. Y. Dong* and J. Huang, Leader-following consensus with connectivity preservation of uncertain Euler-lagrange multi-agent systems, International Journal of Robust and Nonlinear Control, vol. 27, pp. 4772–4787, 2017.

12. Y. Dong* and S. Xu, Adaptive cooperative output regulation of nonlinear multi-agent systems with arbitrarily large parametric uncertainties and an uncertain leader, International Journal of Robust and Nonlinear Control, vol. 29, pp. 1680-1693, 2019.

13.  Y. Dong*, S. Xu and X. Hu, Coordinated control with multiple dynamic leaders for uncertain lagrangian systems via self-tuning adaptive distributed observer, International Journal of Robust and Nonlinear Control, vol. 27, pp. 2708–2721, 2017.

14. Y. Dong* and S. Xu, Rendezvous problem of multiple linear uncertain systems under state-dependent dynamic networks, Journal of the Franklin Institute, vol. 356, pp. 8325-8343, 2019.

15.  Y. Dong, J. Chen, and J. Huang*, A self-tuning adaptive distributed observer approach to the cooperative output regulation problem for networked multi-agent systems, International Journal of Control, vol. 92, no. 8, pp. 1796–1804, 2019. 

16. Y. Dong*, Rendezvous with connectivity preservation for multi-robot systems with an unknown leader, International Journal of Control, vol. 91, no. 2, pp. 470–479, 2018.

17. Y. Dong and J. Huang*, The Leader-following rendezvous with connectivity preservation via a self-tuning adaptive distributed observer, International Journal of Control, vol. 90, no. 7, pp. 1518–1527, 2017.

18. Y. Dong and J. Huang*, Consensus and flocking with connectivity preservation of uncertain Euler-lagrange multi-agent systems, Journal of Dynamic Systems Measurement and Control-Transactions of ASME, vol. 140, pp. 091011-1– 091011-8, 2018.

19. Y. Dong and J. Huang*, Cooperative global robust output regulation for nonlinear multi-agent systems in output feedback form, Journal of Dynamic Systems Measurement and Control-Transactions of ASME, vol. 136, pp. 031001-1-031001-5, 2014.

20. Y. Dong and J. Huang, Leader-following rendezvous with connectivity preservation of single-integrator multi-agent systems, IEEE/CAA Journal on Automatica Sinica, vol. 1, no. 1, pp. 19-23, Jan. 2014.

21. Y. Dong* and X. Hu, Distributed control of periodic formations for multiple under-actuated autonomous vehicles, IET Control Theory & Applications, vol. 11, no. 1, pp. 66–72, 2017.

22. Z. Ping, Y. Dong*, H. Tang and J. Lu, Robust approach for attitude tracking and nonlinear  disturbance rejection of rigid body spacecraft, IET Control Theory & Applications, vol. 10, no. 17, pp. 2325-2330, 2016.

1. 副主编

• International Conference on Control, Automation, Robotics & Vision (ICARV)

• IEEE International Conference on Control and Automation (ICCA)

2. 审稿

     • IEEE Transactions on Automatic Control

• IEEE Transactions on Neural Networks and Learning Systems

• IEEE Transactions on Control of Network Systems

• IEEE Transactions on Cybernetics

• Automatica

• System & Control Letters

• International Journal of Robust and Nonlinear Control

• IET Control Theory and Applications

• International Journal of Systems Science

• Journal of the Franklin Institute

• Transactions on Industrial Electronics

• Journal of Systems Science and Complexity

• SCIENCE CHINA Information Sciences, etc.

3. 会议职务

• Regular Session Chair, the 28th Chinese Control and Decision Conference, Yinchuan, China,  May 28–30,2016.

• Regular Session Co-Chair, the 2016 American Control Conference, Boston, MA, USA, July 6–8, 2016.

• Invited Session Chair, 2017 Asian Control Conference, Gold Coast Convention Centre, Australia, December 17–20, 2017.

• Invited Session Chair, The 13th World Congress on Intelligent Control and Automation (WCICA 2018), Changsha, China, July 4–8, 2018.

• Invited Session Chair, The 15th IEEE International Conference on Control and Automation,   Edinburgh, Scotland, July 16–19, 2019.

• Invited Session Chair, The 16th IEEE International Conference on Control and Automation,   online, Oct. 9–11, 2020.

4. 会员

      • IEEE Member

      • 中国自动化学会

招收博士生，硕士生和博士后，欢迎感兴趣的同学报考！

博士学位研究生招生网址

https://yz.tongji.edu.cn/080-dianziyuxinxigongchengxueyuan2021nianshenqing-kaohezhiboshishengzhaoshengshishibanfa.pdf

个人主页

 https://cse.tongji.edu.cn/6b/93/c15580a158611/page.htm