姓 名 李银伢 性 别 男
出生年月 籍贯 湖南常宁市
民 族 汉族 政治面貌 党员
最后学历 博士研究生毕业 最后学位 工学博士
技术职称 教授 导师类别 博士生导师
导师类型 校内 兼职导师 否
行政职务 系副主任 Email liyinya@njust.edu.cn
工作单位 南京理工大学 邮政编码 210094
通讯地址 南京市孝陵卫200号南京理工大学自动化学院6030室
单位电话
个人主页


指导学科
学科专业(主) 081105|导航、制导与控制 招生类别 博、硕士 所在学院 自动化学院
研究方向 1. 纯方位系统目标运动分析
2. 不完全量测下扩展目标跟踪
3. 多智能体系统分布式状态估计与协同控制
4. 事件触发估计与控制



工作经历
2019.6-至今，南京理工大学，研究员
2019.2-2019.8，香港中文大学，访问****
2017.9-2018.3，香港城市大学，访问****
2009.5-2019.5，南京理工大学，副研究员
2007.9-2010.12，江苏银河电子股份有限公司，博士后
2006.7-2009.4，南京理工大学，讲师


教育经历
2001-2006，南京理工大学，博士研究生

获奖、荣誉称号
曾获工信部国防科技进步奖三等奖1项，江苏省教学成果奖特等奖1项，国家级教学成果奖二等奖1项，首批入选南京理工大学“卓越计划紫金之星”。2015-2016年获南京理工大学优秀教师荣誉称号，2017年获南京理工大学优秀党员荣誉称号。

社会、学会及学术兼职
中国信息融合分会委员，TCCT非线性系统与控制学组委员，中国兵工学会会员，担任国内期刊《自动化学报》、《控制理论与应用》等杂志特邀审稿人，以及国际期刊《Automatica》、《Journal of Process Control》、《IET Control Theory and Applications》等杂志的特邀审稿人。

科研项目
国防项目，XXX火控技术，2019/01-2021/12，135万，主持
国家自然科学基金面上项目，**，互协方差未知情形下的分布式融合策略及求解方法研究，2019/01-2022/12，60万元，参与。
委托项目（横向），某XXX复核复算技术， 2017/09-2017/12，18万元，参加。
委托项目（横向），某型舰船火控系统数据分析仪， 2015/09-2017/01，52万元，参加。
委托项目（横向），某综合光电火控系统解算软件， 2014/10-2015/10，10万元，主持。
委托项目（横向），某综合光电火控系统滤波软件， 2014/10-2015/10，10万元，参加。
委托项目（横向），某型单兵训练设备， 2013/01-2015/12，20万元，参加。
国家自然科学基金面上项目，**，不完全量测下的水下纯方位系统目标运动分析研究，2013/01-2016/12，80万元，主持。
国家自然科学基金青年基金项目，**，基于目的域的命中及毁伤的时空特性，2012/01-2014/12，24万元，参加。
委托项目（横向），某型防空火控系统射击诸元求解技术， 2012/01-2014/12，25万元，参加。
委托项目（横向），某跟踪系统适配器，2010/05-2012/10，150万元, 参加。
国家自然科学基金青年基金项目，** ，满意待机控制，2009/01-2011/12，18万元，主持。


发表论文
[update Oct. 2019]:
Y. Liang, A. Sheng, G. Qi, and Y. Li, “Event-triggered diffusion estimation for asynchronous sensor networks with unreliable measurements,” Journal of the Franklin Institute, vol. 356, no. 17, pp.10439-10465, Nov. 2019.
Y. Li, G. Qi, and A. Sheng, “Closed-form formula of Cramer-Rao lower bound for 3D TOA target localisation,” Electronics letters, 2019, in press, doi: 10.1049/el.2019.2669.
C. Zhang, Y. Li, G. Qi, and A. Sheng, “Distributed finite-time control for coordinated circumnavigation with multiple agents under directed topology,” Journal of the Franklin Institute, 2019, in press, doi: 10.1016/j.jfranklin.2019.09.038.
C. Zhang, Y. Li, G. Qi, and A. Sheng, “Coordinated circumnavigation by multiple agents under directed topology,” International Journal of Systems Science, vol. 50, no. 14, pp. 2616-2631, Oct. 2019.
C. Zhang, Y. Li, G. Qi, and A. Sheng, “Distributed finite-time control for coordinated circumnavigation with multiple non-holonomic robots,” Nonlinear Dynamics, vol. 98, no. 1, pp. 573–588, Oct. 2019.
Y. Chen, A. Sheng, G. Qi, and Y. Li, “Diffusion self-triggered square-root cubature information filter for nonlinear non-gaussian systems and its application to the optic-electric sensor network,” Information Fusion, vol. 55, pp. 260 – 268, Mar. 2020.
Y. Li, G. Qi, and A. Sheng, “Optimal deployment of vehicles with circular formation for bearings-only multi-target localization,” Automatica, vol. 105, pp. 347–355, Jul. 2019.
G. Qi, Y. Li, and A. Sheng, “Virtual intersecting location based UAV circumnavigation and bearings-only target-tracking techniques,” Information Sciences, vol. 505, pp. 571–585, Dec. 2019.
P. Ye, A. Sheng, Y. Li, and G. Qi, “Bounded consensus tracking of second-order multi-agent systems using rectangular impulsive control,” Nonlinear Dynamics, vol. 95, no. 2, pp. 1189–1202, Jan. 2019.
N. Wang, Y. Li, G. Qi, and A. Sheng, “Distributed two-stage state estimation with event-triggered strategy for multirate sensor networks,” International Journal of Adaptive Control and Signal Processing, vol. 33, no. 7, pp. 1174–1188, Jul. 2019.
A. Gomaa Haroun and Y. Li, “A novel optimized fractional-order hybrid fuzzy intelligent PID controller for interconnected realistic power systems,” Transactions of the Institute of Measurement and Control, vol. 41, no. 11, pp. 3065–3080, Jul. 2019.
A. Gomma Haroun and Y. Li, “Ant lion optimized fractional order fuzzy pre-compensated intelligent PID controller for frequency stabilization of interconnected multi-area power systems,” Applied System Innovation, vol. 2, no. 2, pp. 1–24, Jun. 2019.
C. Zhang, A. Sheng, G. Qi, and Y. Li, “Finite-time standoff tracking control of moving target by means of backstepping for non-holonmicrobot,” Acta Automatica Sinica, vol. 45, no. 3, pp. 540–552, Mar. 2019.
P. Ye, J. Zheng, Y. Li, G. Qi, and A. Sheng, “Distributed cooperative guidance of multiple missiles with heterogeneous constraints of field-of-view,” Acta Armamentarii, vol. 40, no. 3, pp. 506–515, Mar. 2019.
P. Ye, J. He, Y. Li, G. Qi, and A. Sheng, “Rectangular impulsive consensus of multi-agent systems with heterogeneous control widths,” in 2019 12th Asian Control Conference (ASCC). IEEE, Jun. 2019, pp.913–918.
Y. Li, G. Qi, and A. Sheng, “Performance metric on the best achievable accuracy for hybrid TOA/AOA target localization,” IEEE Communications Letters, vol. 22, no. 7, pp. 1474–1477, May 2018.
Y. Li, G. Qi, and A. Sheng, “General analytical formula of GDOP for TOA target localisation,” Electronics letters, vol. 54, no. 6, pp. 381–383, Feb. 2018.
J. Shi, G. Qi, Y. Li, and A. Sheng, “Stochastic convergence analysis of cubature Kalman filter with intermittent observations,” Journal of Systems Engineering and Electronics, vol. 29, no. 4, pp. 823–833, Sep.2018.
J. Shi, Y. Li, G. Qi, and A. Sheng, “CRLB for the event triggered area target tracking system with intermittent observations,” Acta Automatica Sinica, vol. 44, no. 9, pp. 1648–1661, Sep. 2018.
C. Zhang, G. Qi, Y. Li, and A. Sheng, “Standoff tracking control with respect to moving target via finite-time stabilization,” Acta Automatica Sinica, vol. 44, no. 11, pp. 2056–2067, Nov. 2018.
Y. Chen, A. Sheng, G. Qi, and Y. Li, “Event-triggered Kalman consensus filter with intermittent measurements and its application to the electro-optical sensor network,” Acta Armamentarii, vol. 39, no. 4, pp. 625–634, Apr. 2018.
Y. Liang, A. Sheng, Z. Wu, J. Zheng, G. Qi, and Y. Li, “Event-triggered cubature Kalman filtering algorithm and its application in the detection network for fire control,” Acta Armamentarii, vol. 39, no. 3, pp. 417–427, Mar. 2018.
P. Ye, A. Sheng, J. Zheng, Z. Wu, G. Qi, and Y. Li, “Cooperative guidance of multi-missile with unsustainable connected communication topology,” Acta Armamentarii, vol. 39, no. 3, pp. 474–484, Mar. 2018.
Y. Chen, G. Qi, Y. Li, and A. Sheng, “Diffusion Kalman filtering with multi-channel decoupled event-triggered strategy and its application to the optic-electric sensor network,” Information Fusion, vol. 36, pp. 233–242, Jul. 2017.
Y. Chen, Y. Li, G. Qi, and A. Sheng, “A multi-channel decoupled eventtriggered transmission mechanism and its application to the optic-electric sensor network,” Acta Automatica Sinica, vol. 43, no. 2, pp. 227–237, Feb. 2017.
A. G. Haroun and Y. Li, “A novel optimized hybrid fuzzy logic intelligent PID controller for an interconnected multi-area power system with physical constraints and boiler dynamics,” ISA transactions, vol. 71, pp. 364–379, Nov. 2017.
Y. Liang, G. Qi, Y. Li, and A. Sheng, “Design and application of event-triggered mechanism for a kind of optical-electronic tracking system,” Control Theory and Applications, vol. 34, no. 10, pp. 71–81, Oct. 2017.
J. Shi, Y. Li, G. Qi, and A. Sheng, “Machine vision based passive tracking algorithm with intermittent observations,” Journal of Huazhong University of Science and Technology (Natural Science Edition), vol. 45, no. 6, pp. 33–37, Jun. 2017.
S. Su, B. Zuo, Y. Li, and A. Sheng, “Design of high precision voltage sag generator for calibration,” Electrical Measurement & Instrumentation, vol. 54, no. 9, pp. 101–105, May 2017.
Y. Shen, Y. Li, G. Qi, and A. Sheng, “Time-jerk optimal trajectory planning for industrial robots based on PSO algorithm,” Computer Measurement & Control, vol. 25, no. 1, pp. 158–162, Jan. 2017.
J. Cong, Y. Li, G. Qi, and A. Sheng, “An order insensitive sequential fast covariance intersection fusion algorithm,” Information Sciences, vol.367, pp. 28–40, Nov. 2016.
J. Shi, Y. Li, G. Qi, and A. Sheng, “Extended target tracking filter with intermittent observations,” IET Signal Processing, vol. 10, no. 6, pp.592–602, Aug. 2016.
Y. Chen, Y. Li, G. Qi, and A. Sheng, “A neighbor selected diffusion Kalman filter over communication resource constrained networks,” in2016 35th Chinese Control Conference (CCC). IEEE, Jul. 2016, pp.5200–5206.
T. Chu, Y. Li, G. Qi, and A. Sheng, “A distributed sequential fusion algorithm over asynchronous sensor networks,” in 2016 IEEE 13thInternational Conference on Networking, Sensing, and Control (ICNSC). IEEE, Apr. 2016, pp. 1–5.
W. Ding and Y. Li, “Target tracking algorithm for underwater bearings-only system with incomplete measurements,” Journal of Computer Applications, vol. 34, no. 5, pp. 1106–1109, Apr. 2015.
J. Yang, Y. Li, G. Qi, and A. Sheng, “Overview of observability of bearings-only target motion analysis,” Fire Control and Command Control, vol. 40, no. 12, pp. 1–17, Dec. 2015.
Y. Zhang, Y. Li, G. Qi, and A. Sheng, “Cooperative target localization and tracking with incomplete measurements,” International Journal of Distributed Sensor Networks, vol. 10, no. 12, pp. 1–16, Dec. 2014.
T. Chu, G. Qi, Y. Li, and A. Sheng, “Distributed asynchronous fusion algorithm for sensor networks with packet losses,” Discrete Dynamics in Nature and Society, vol. 2014, pp. 1–14, Jan. 2014.
C. Wang, G. Qi, Y. Li, and A. Sheng, “Asynchronous randomized Gossip consensus algorithm with nonuniform-selected probability and optimizing,” Control Theory & Applications, vol. 30, no. 3, pp. 299–306, Mar. 2013.
S. Chen, Y. Li, G. Qi, and A. Sheng, “Adaptive Kalman estimation in target tracking mixed with random one-step delays, stochastic-bias measurements, and missing measurements,” Discrete Dynamics in Nature and Society, vol. 2013, pp. 1–14, Nov. 2013.
C. Wang, G. Qi, Y. Li, and A. Sheng, “Gossip-based averaging estimation and optimization,” in Applied Mechanics and Materials, vol.336–338. Trans Tech Publications, Jul. 2013, pp. 355–360.
——, “Consensus-based distributed fusion for networked antiaircraft fire control system,” in 2013 International Conference on Computational and Information Sciences. IEEE, Jun. 2013, pp. 1126–1129.
T. Chu, G. Qi, Y. Li, and A. Sheng, “A distributed fusion algorithm over asynchronous sensor networks,” in Proceedings 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer (MEC). IEEE, Dec. 2013, pp. 1491–1497.
C. Wang, G. Qi, Y. Li, and A. Sheng, “Consensus-based distributed filtering algorithm in sensor networks,” Control Theory & Applications, vol. 29, no. 12, pp. 1645–1650, Dec. 2012.
——, “Quantized steady-state Kalman filter in a wireless sensor net-work,” in International Conference in Swarm Intelligence. Springer, Jul. 2012, pp. 553–562.
G. Qi, Y. Li, and A. Sheng, “Study on a real-time optimal multi-sensor asynchronous data fusion algorithm,” in Proceedings of the 10th World Congress on Intelligent Control and Automation. IEEE, Jul. 2012, pp.4362–4367.
Y. Li, G. Qi, and A. Sheng, “Frequency parameterization of H∞ PID controllers via relay feedback: A graphical approach,” Journal of Process Control, vol. 21, no. 4, pp. 448–461, Apr. 2011.
——, “Comments on “Synthesis of PID controller for unstable and integrating processes” Chemical Engineering Science 64 (2009) 2807–2816,” Chemical Engineering Science, vol. 66, no. 17, pp. 4004–4007, Sep. 2011.
G. Qi, Y. Li, L. Chen, and A. Sheng, “Admissible model noise upper bound with constraint of stochastic passage characteristics,” Journal of Systems Engineering and Electronics, vol. 22, no. 4, pp. 567–571, Aug.2011.
Y. Li, X. Liu, G. Qi, and A. Sheng, “Design of a roll channel control system of SSB based on improved dominant pole placement,” Electronics, Optics & Control, vol. 18, no. 9, pp. 11–17, Sep. 2011.
Y. Li, W. Tan, and A. Sheng, “Application of improved particle filter algorithm to bearings-only passive tracking in multiple stations,” Control Theory & Applications, vol. 28, no. 8, pp. 1081–1086, Aug. 2011.
Y. Li, A. Sheng, and Q. Qi, “Further results on guaranteed dominant pole placement with PID controllers,” in Proceedings of the 30th Chinese Control Conference. IEEE, Jul. 2011, pp. 3756–3760.
G. Qi, Y. Li, and A. Sheng, “Study on a predictive filter based maneuvering target tracking algorithm,” in 2011 2nd International Conference on Intelligent Control and Information Processing, vol. 1. IEEE, Jul.2011, pp. 214–218.
G. Qi, L. Chen, Y. Li, and A. Sheng, “A bias-allowable estimator for continuous-time system,” Control Theory & Applications, vol. 27, no. 2, pp. 193–198, Jul. 2010.
R. Liu, G. Qi, L. Chen, and A. Sheng, “Cramér-rao lower bounds for stochastic-bias discrete-time system with incomplete measurements,” Control Theory & Applications, vol. 27, no. 7, pp. 927–932, Jul. 2010.
Y. Li, L. Chen, G. Qi, and A. Sheng, “An algorithm of video object seg-mentation in real-time in electric-optic tracking,” Computer Simulation, vol. 27, no. 9, pp. 230–234, Sep. 2010.
G. Qi, Y. Li, and A. Sheng, “A particle swarm optimization based satisfactory bias-allowable filtering,” in Proceedings of the 29th Chinese Control Conference. IEEE, Jul. 2010, pp. 1385–1390.
Y. Li, Z. Guo, A. Sheng, and G. Qi, “Optimal opportunity-awaiting control for stochastic systems with state feedback: A parametric approach,” in Proceedings of the 29th Chinese Control Conference. IEEE, Jul.2010, pp. 1132–1137.
Y. Li, L. Chen, G. Qi, and A. Sheng, “Research on utmost shooting boundary and time limit of anti-craft artillery against hyper velocity target,” Acta Armamentarii, vol. 40, no. 6, pp. 663–667, Jun. 2009.
R. Liu, Y. Li, and A. Sheng, “Analysis on the hit probability of distributed digital antiaircraft system,” Acta Armamentarii, vol. 30, no. 10, pp. 1382–1388, Oct. 2009.
——, “A new method for solving the fire equation in emergency shooting of antiaircraft guns,” Electronics Optics & Control, vol. 16, no. 10, pp.25–30, Oct. 2009.
Z. Jia, Y. Li, M. Mao, L. Chen, and Z. Guo, “Research of improved probability data association algorithm for multi-target tracking,” in 2009Chinese Control and Decision Conference. IEEE, Jun. 2009, pp. 4919–4923.
Z. Xu, A. Sheng, and Y. Li, “Cramer-rao lower bounds for bearings-only maneuvering target tracking with incomplete measurements,” in2009 Chinese Control and Decision Conference. IEEE, Jun. 2009, pp.2201–2206.
Y. Li, A. Sheng, and Y. Wang, “Synthesis of PID-type controllers without parametric models: A graphical approach,” Energy Conversion and Management, vol. 49, no. 8, pp. 2392–2402, Aug. 2008.
Y. Li, Z. Guo, and Y. Wang, “Research on satisfactory PID Control for stochastic systems with opportunity-awaiting control characteristic indices constraints,” Systems Engineering-Theory & Practice, vol. 28, no. 3, pp. 76–102, Mar. 2008.
Y. Li, A. Sheng, Y. Wang, and Z. Guo, “Consistency of decay ratio and H ∞ indices in PI control,” Control Theory & Applications, vol. 23, no. 3, pp. 498–502, Jun. 2007.
Y. Li, A. Sheng, and Y. Wang, “Multi-objective satisfactory PID controller via a graphical approach in the parameter space,” Systems Engineering and Electronics, vol. 29, no. 1, pp. 134–138, Jan. 2007.
——, “Design of PID controllers of anti-aircraft artillery servo system with multiple performance specifications,” Journal of China Ordnance, vol. 3, no. 3, pp. 185–190, Jun. 2007.
——, “A design method based on particle swarm optimization for PID controller of a servo system,” Acta Armamentarii, vol. 27, no. 2, pp.202–205, Mar. 2006.
Y. Li, A. Sheng, and Z. Guo, “Application of interval PID theorem in the design of guidance bomb flight control system,” Acta Armamentarii, vol. 26, no. 1, pp. 108–112, Jan. 2005.
Y. Liu, Y. Li, and A. Sheng, “Fast calculation of all stabilizing PI controllers for second-order time-delay systems,” Journal of Nanjing Normal University (Engineering and Technology), vol. 4, no. 4, pp. 5–8, Dec. 2004.
Y. Li, A. Sheng, and Y. Wang, “Robust control design for time-delay systems with parameter uncertainties using the PID controller,” Control and Decision, vol. 19, no. 10, pp. 1178–1182, Oct. 2004.

出版专著和教材
[1] 马建伟, 李银伢. 满意PID 控制设计理论与方法. 北京: 科学出版社, 2007.
[2] 薄煜明，郭治，钱龙军，李银伢，等. 现代火控理论与应用基础. 北京: 科学出版社, 2012.

教学活动
担任本科生《控制工程基础》【英】、《现代控制理论基础》【英】课程、《学科前沿系列讲座》课程，研究生《现代火控理论》课程的教学工作。本人遵循的教学理念：以学生为中心，已产出为导向，融入创新意识、创新能力和创新技能三要素，使之贯穿学与教的全过程。积极推进新的教学模式和教学方法改革，与国际接轨，大胆尝试新的教学方式和教学方法。

指导学生情况
指导硕士研究26人，其中23人已毕业；指导博士研究生6人，其中留学博士研究生2名。