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



个人简历 研究方向 学术兼职 科研项目 代表性论文及专著 教学工作 软件版权登记及专利 荣誉和奖励
工作经历
2020年4月-至今， 上海交通大学，长聘教轨助理教授，硕士生导师
教育经历
2014年-2020年， 上海交通大学，自动化系，获博士学位
2017年-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年-2014年，哈尔滨工程大学，自动化系，获硕士学位
2008年-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：预计招收2021年9月入学的硕士研究生2-3名，可供选择的研究方向（不仅限于）如下：
1. 水下机器人智能巡检/跟踪任务中的鲁棒预测控制方法
-拟与美国俄亥俄州立大学、英国爱丁堡大学等高校的合作伙伴联合指导
2. 基于声纳/视觉的水下机器人智能导航定位方法
-拟与英国国家海洋中心和英国南安普顿大学的合作伙伴联合指导开展基于声纳的水下机器人地形匹配导航定位方法研究；拟与美国加州大学圣地亚哥分校、香港科技大学等高校的合作伙伴联合指导开展基于视觉的水下机器人导航定位方法研究
3. 水下机器人鲁棒强化学习控制方法
-拟与美国纽约大学的合作伙伴联合指导
4. 多水下机器人协同与博弈
-拟与新加坡南洋理工大学和新加坡国立大学的合作伙伴联合指导
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，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。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要求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、制导与控制
2. 多海洋机器人协同、决策与博弈
3. 机器人与无人自主系统的控制与学习方法


Autonomous Vehicle Vision 2021 workshop, Technical Program Committees (Workshop官网：https://avvision.xyz/, 主会官网：http://wacv2021.thecvf.com/node/26)


IEEE第八届国际水下系统与技术会议，IEEE 8th International Conference on Underwater System Technology: Theory and Application，Section:Underwater Robots-Dynamic Control, Section Chair (分会主席)

中国自动化学会会员

海工及控制领域多个SCI期刊的审稿人，包括：
IEEE Transactions on Industrial Informatics
IEEE Transactions on Industrial Electronics
IEEE Transactions on Control Systems Technology
IEEE Journal of Oceanic Engineering
IEEE Transactions on Automation Science and Engineering
IEEE Transactions on Fuzzy Systems
IEEE Transactions on Systems, Man, and Cybernetics: Systems
IEEE Transactions on Circuits and Systems II: Express Briefs
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
ASME Journal of Dynamic Systems, Measurement and Control
International Journal of Control
Journal of the Franklin Institute
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等


2014年9月-2017年6月，上海市优秀学科带头人项目，“动力定位系统自适应控制方法研究”，主要参与者
2013年6-2014年6月，国家自然科学基金青年项目，“UUV 近海底自主作业的混合视觉伺服协调控制方法研究”，主要参与者


目前已发表论文24篇，包括SCI论文14篇，其中以第一作者身份发表在自动控制领域权威期刊IET CTA上的论文获该刊2019年最佳论文奖；以第一作者身份发表在自动控制与计算机应用领域顶刊IEEE TII上的论文入选ESI高被引论文；以第一作者身份发表在海洋工程领域顶刊IEEE JOE上的2篇论文入选ESI高被引论文；发表在海洋工程领域顶刊OE的论文入选该刊2015年以来Scopus高被引论文。目前Google Scholar引用540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。
注：（全部论文见 https://scholar.google.com/citations?user=m8LhY94AAAAJ&hl=zh-CN）
在审的论文:
[1] 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, Under review, 2020.
[2] Rui Fan, Hengli Wang, Peide Cai, Mohammud Junaid Bocus, Lei Qiao, and Ming Liu, "Generating realistic driving scene from stereo training set using homography matrix to enhance freespace detection," IEEE/ASME Transactions on Mechatronics, Under review, 2020.
发表的期刊论文:
[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. (ESI Highly Cited Paper)
[2] 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 Highly Cited Paper)
[3] 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 Highly Cited Paper)
[4] 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.
[5] 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.
[6] 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-Best Paper Award)
[7] 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.
[8] 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.
[9] Defeng Wu, Fengkun Ren, Lei Qiao, and Weidong Zhang, "Active disturbance rejection controller design for dynamically positioned vessels based on adaptive hybrid biogeography-based optimization and differential evolution," ISA Transactions, vol. 78, pp. 56-65, 2018.
[10] Zhijian Sun, Guoqing Zhang, Lei Qiao, and Weidong Zhang, "Robust adaptive trajectory tracking control of underactuated vehicles in fields of marine practice," Journal of Marine Science and Technology, vol. 23, iss. 4, pp. 950-957, 2018.
[11] 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.
[12] 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)
发表的会议论文:
[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] 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 MTS/IEEE Oceans Conference (OCEANS), to appear, 2020.
[5] 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.
[6] 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.
[7] 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.
[8] 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


授权发明专利4项，公开发明专利6项。


2020年 博士上海市优秀毕业生
2019年 2019 IET Control Theory & Applications Premium Award（最佳论文奖）
2018年 Advances in Engineering Software期刊Outstanding Reviewer (杰出审稿人）
2017年 博士国家奖学金
2017年 国家留学基金委公派留学奖学金
2014年 黑龙江省三好学生