胡楚雄
副教授、博士生导师、机电所党支部书记
电话：(Office) (Fax)
Email：cxhu@tsinghua.edu.cn
地址：北京市海淀区清华大学李兆基科技大楼A819





教育背景
工作履历
教学工作
科研工作
论文与专利
奖励与荣誉

2000.09~2005.06，浙江大学机械电子工程专业，获工学学士学位
2005.09~2010.12，浙江大学机械电子工程专业，获工学博士学位
2007.09~2008.08，美国普渡大学机械工程系，国家公派


2010.12-2013.04，清华大学精仪系制造所，博士后
2013.04-至 今，清华大学机械系机电所，教师


系统动力学与控制、控制工程基础、工程图学基础、现代机电工程、生产实习与社会实践


在精密机电测控领域，围绕集成电路制造装备、数控机床、机器人等中的精密/超精密运动系统，开展了高性能运动控制和测量标定研究，注重理论原创性和实际有效性，包括：1、高性能多轴协调轮廓运动控制；2、精密/超精密运动控制理论及应用；3、超精密工作台测量系统自标定。研究兴趣为精密运动控制、机电一体化、多轴协调运动、控制理论及应用、自适应控制、迭代学习、神经网络、机器人、非线性系统、精密测量标定等。相关研究发表论文70余篇，其中30余篇论文发表于IEEE Transactions系列、Automatica等国际SCI期刊。出版英文学术专著1 部(1章)。申请国家发明专利近30项，授权10余项。IEEE Senior Member，中国机械工程学会高级会员。


代表性论文：
[1] C. Hu*, Z. Wang, Y. Zhu, M. Zhang and H. Liu. Performance Oriented Precision LARC Tracking Motion Control of a Magnetically Levitated Planar Motor with Comparative Experiments, IEEE Transactions on Industrial Electronics, 2016, 63(9): 5763-5773.
[2] C. Hu*, Z. Hu, Y. Zhu and Z. Wang. Advanced GTCF Based LARC Contouring Motion Control on an Industrial X-Y Linear-Motor-Driven Stage with Experimental Investigation, IEEE Transactions on Industrial Electronics, 2016, DOI: 10.1109/TIE.2016.**: 1-11.
[3] C.Hu*, Y. Zhu, Self-Calibration of Two-Dimensional Precision Metrology Systems, New Trends and Developments in Metrology, 2016, pp. 185-210.
[4] M. Li, Y. Zhu, K. Yang, C. Hu*, and H. Mu. An Integrated Model-Data Based Zero Phase Error Tracking Feedforward Control Strategy with Application to an Ultra-Precision Wafer Stage, IEEE Transactions on Industrial Electronics, 2016, DOI: 10.1109/TIE.2016.**: 1-10.
[5] M. Li, Y. Zhu, K. Yang, C. Hu*. A Data-Driven Variable-Gain Control Strategy for an Ultra-Precision Wafer Stage with Accelerated Iterative Parameter Tuning, IEEE Transactions on Industrial Informatics, 2015, 11(5): 1179-1189.
[6] Y. Jiang, Y. Zhu, K. Yang, C. Hu*, D. Yu. A Data-Driven Iterative Decoupling Feedforward Control Strategy with Application to an Ultra-Precision Motion Stage, IEEE Transactions on Industrial Electronics, 2015, 62(1): 620-627.
[7] J. Yang, Y. Zhu, W. Yin, C. Hu*, K. Yang, H. Mu. LFT Structured Uncertainty Modeling and Robust Loop-Shaping Controller Optimization for an Ultra-precision Positioning Stage, IEEE Transactions on Industrial Electronics, 2014, 61(12): 7013-7025.
[8] C. Hu, B. Yao* and Q. Wang. Performance-Oriented Adaptive Robust Control of a Class of Nonlinear Systems Preceded by Unknown Dead Zone With Comparative Experimental Results, IEEE/ASME Transactions on Mechatronics, 2013, 18(1): 178-189.
[9] C. Hu*, Y. Zhu, J. Hu, D. Xu and M. Zhang. A Holistic Self-Calibration Approach for Determination of Three-Dimensional Stage Error, IEEE Transactions on Instrumentation and Measurement, 2013, 62(2): 483-494.
[10] C. Hu*, Y. Zhu, J. Hu, D. Xu and M. Zhang. An on-axis self-calibration approach for precision rotary metrology stages based on an angular artifact plate, Measurement Science and Technology, 2013, 24(8): 085007: 1-10.
[11] C. Hu*, Y. Zhu, J. Hu, M. Zhang and D. Xu. A Holistic Self-Calibration Algorithm for X-Y Precision Metrology Systems, IEEE Transactions on Instrumentation and Measurement, 2012, 61(9): 2492-2500.
[12] C. Hu*, B. Yao, Q. Wang, Z. Chen and C. Li. Experimental Investigation on High-Performance Coordinated Motion Control of High-Speed Biaxial Systems for Contouring Tasks, International Journal of Machine Tools & Manufacture, 2011, 51(9): 677-686.
[13] C. Hu*, B. Yao and Q. Wang. Global Task Coordinate Frame-Based Contouring Control of Linear-Motor-Driven Biaxial Systems with Accurate Parameter Estimations, IEEE Transactions on Industrial Electronics, 2011, 58(11): 5195-5205.
[14] C. Hu*, B. Yao and Q. Wang. Adaptive Robust Precision Motion Control of Systems with Unknown Input Dead-Zones: A Case Study With Comparative Experiments, IEEE Transactions on Industrial Electronics, 2011, 58(6): 2454-2464.
[15] C. Hu, B. Yao* and Q. Wang. Integrated Direct/Indirect Adaptive Robust Contouring Control of A Biaxial Precision Gantry With Accurate Parameter Estimations, Automatica, 2010, 46(4): 701-707.


2016年IEEE-ICIA国际会议最佳自动化论文奖
2013年全国百篇优秀博士论文提名奖
2012年清华大学优秀博士后
2012 Best Mechatronics Paper Award from ASME Dynamic Systems and Control Division
2011 Best Student Paper Finalist at American Control Conference
2011年中国机械工程学会上银机械博士论文优秀奖
2010年浙江大学竺可桢奖