陆 耿 高级工程师
清华大学自动化系
通信地址：清华大学中央主楼521 邮政编码：100084
联系电话：
Email：lug@tsinghua.edu.cn

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教育背景

1995~1999年在清华大学自动化系攻读工学学士学位；
1999~2004年在清华大学自动化攻读获工学博士学位。

工作履历

2004至2006年在清华大学电子工程系进行博士后研究工作
2006年在清华大学自动化系任教至今

学术兼职

IEEE Trans. Industrial Electronics, IEEE Trans. Control System, IEEE Sensor Journal，COMPEL,《电机工程学报》等审稿人
International Conference on Unmanned Aerial System会议国际委员会成

研究领域

学术方向：非线性控制、鲁棒控制、群控制、现代检测
研究方向：无人机控制、无人机编队、缩微智能驾驶

研究概况

无人直升机
无人直升机是一种具有高度自由度和灵活性的空中飞行平台，在军事和民用领域均具有广泛的应用前景。然而直升机具有多变量、欠驱动、非线性、强耦合、不确定性等特点，不仅是各种飞行器中控制难度最大的，也是现代控制理论研究领域中最富挑战性的课题之一。
本人在以下方面展开了科学研究：
(1) 无人直升机鲁棒位姿估计问题：针对10kg~1000kg级电动及油动常规布局无人直升机、倾转旋翼无人直升机、纵列旋翼无人直升机等飞行平台，研制具有鲁棒性能的非线性滤波器，将包括陀螺仪、加速度计、电子罗盘、气压计、超声测距模块、摄像头、GPS等在内的传感器信息进行数据融合，使之在高振动、强干扰情况下对直升机的位置和姿态进行精确测量。
(2) 无人直升机动力学建模和鲁棒控制问题：在对动力学和机械特性进行建模的基础上，针对不确定性、非线性和强干扰等对于飞行品质的影响，设计鲁棒非线性控制器，实现高性能飞行控制，使无人直升机仅依靠单一控制器能稳定工作在悬停、小机动低航速、大机动高航速、强气流干扰等极端状态下，并可在陆地或摇摆的海上舰船甲板上自主起飞着陆。
(3) 无人直升机视觉跟踪控制问题： 针对运动的地面/水面目标跟踪应用场合，将视觉信息引入直升机控制器，实现依靠视觉信息跟踪地面车辆、水面舰艇，并在获得允许的情况下利用车载/船载标志物实现运动中起飞、着陆。
(4) 无人直升机群自主飞行控制问题：针对多无人机自主飞行控制问题，以无人直升机为典型应用平台，研究机群编队飞行时的环境与相对位姿感知、多机信息融合、基于局部信息的群体一致性控制方法等问题。
(5) 无人直升机飞行控制系统研制： 为实现上述任务/功能，课题组研制开发了具有自主知识产权的飞行控制系统，该系统目前已发展至第四代，包括中央处理器、多种传感器和执行器(舵机)等。不仅可应用于传统布局的无人直升机，也可应用于传统固定翼无人机、推力矢量固定翼无人机、无人飞艇等飞行器中。
智能车视听觉群驾驶系统
智能车与智能交通是下一代公路交通的主要发展方向之一，对于提高未来交通的效率和安全性有着重要意义。
本人研究方向包括：
(1) 缩微环境下智能车视听觉感知问题：
(2) 缩微环境下多智能车编队控制问题：
(3) 智能车与无人直升机空地协同控制问题。

奖励与荣誉

基于多旋翼无人直升机的现代控制实验教学平台清华大学实验技术成果一等奖
国际空中机器人大赛2017(IARC)System Design Award
全国机器人锦标赛暨第七届国际仿人机器人奥林匹克大赛混合控制型飞行赛一等奖、遥控型飞行赛一等奖、自主型避障飞行赛一等奖
国际空中机器人大赛2014(IARC)Best Target Detection Award
无人直升机鲁棒控制技术与系统中国产学研合作创新成果奖

学术成果

主要学术论文：
[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.