董伟 助理教授
所在系所机器人研究所
办公电话
通讯地址上海市东川路800号机械学院A928
电子邮件dr.dongwei@sjtu.edu.cn
个人主页 欢迎2022年硕士研究生提前联系


教育背景 2009.09-2015.08 上海交通大学，机械电子工程硕博联读，获博士学位
2005.09-2009.07 上海交通大学，机械电子工程(密西根联办试点班)，获工学学士学位

工作经历 2018.01 至今 上海交通大学机械与动力工程学院（助理教授）
2015.09-2017.12 上海交通大学机器人研究所（博士后）

研究方向 协同控制与主动感知规划(2022年研究生尚有名额，欢迎咨询与加入。也欢迎学有余力的本科生联系参与部分研究工作。)
-以无人飞行器/无人小车为载体，研究机器人学所涉及的协同控制与主动感知技术，包括：分布式运动规划与主动感知，基于强化学习的行为决策，以及高精度高灵敏运动追踪控制。


研究工作短视频


科研项目 2020.01-2023.12：面向高效巡检飞行的地空协同观测与运动规划研究：国家自然科学基金项目（项目主持人）。
2017.01-2019.12：旋翼机器人仿生物灵巧型协作中的轨迹动态优化与抗扰追踪技术研究：国家自然科学基金项目（项目主持人）。
2019.03-2022.02：某柔性臂机器人智能控制研究项目（项目主持人）。
2017.05-2018.01：超低空障碍环境下的旋翼机器人敏捷协作飞行技术研究：中国博士后科学基金研究特别资助项目（项目主持人）。
2019.12-2022.12：新一代人工智能重大专项：地外探测无人系统自主感知与精准操控（主要参与人员，排2）

代表性论文专著 期刊论文
? W. Dong, S Liu, Y Ding, X Sheng, X Zhu, "An Artificially Weighted Spanning Tree Coverage Algorithm for Decentralized Flying Robots." IEEE Transactions on Automation Science and Engineering, 2020.
? S. Liu, W. Dong, X Sheng, X Zhu, "Adaptive Aerial Grasping and Perching with Dual Elasticity Combined Suction Cup." IEEE Robotics and Automation Letters, 2020.
? X. Sheng, Z. Ma, N. Zhang, W. Dong, "Aerial Contact Manipulation with Soft End-Effector Compliance and Inverse Kinematic Compensation." Journal of Mechanisms and Robotics, 2020.
? W. Dong, Y Ding, L Yang, X Sheng, X Zhu, "An Efficient Approach for Stability Analysis and Parameter Tuning in Delayed Feedback Control of a Flying Robot Carrying a Suspended Load." Journal of Dynamic Systems, Measurement, and Control - Transactions of the ASME 141 (8), 081015, 2019.
? W. Dong, Y Ding, J Huang, L Yang, X Zhu, "An optimal curvature smoothing method and the associated real-time interpolation for the trajectory generation of flying robots." Robotics and Autonomous Systems 115, 73-82, 2019.
? W. Dong, Y. Ding, J. Huang, X. Zhu, and H. Ding, “An Efficient Approach of Time-optimal Trajectory Generation for the Fully Autonomous Navigation of the Quadrotor.” Journal of Dynamic Systems, Measurement and Control - Transactions of the ASME, vol. 139, no. 6, pp. 061012, 2017.
? W. Dong, Y. Ding, X. Zhu, and H. Ding, “Differential Quadrature Method for Stability and Sensitivity Analysis of Neutral Delay Differential Systems.”Journal of Dynamic Systems, Measurement and Control - Transactions of the ASME, vol.139, no.4, pp. 044504, 2017.
? W. Dong, G.-Y. Gu, X.-Y. Zhu and H. Ding, “A High-performance Flight Control Approach for Quadrotors using a Modified Active Disturbance Rejection Technique.” Robotics and Autonomous Systems, vol. 83, pp. 177-187, 2016.
? W. Dong, Y. Ding, X. Zhu, and H. Ding, “Optimal Proportional-Integral-Derivative Control of Time-Delay Systems Using the Differential Quadrature Method.” Journal of Dynamic Systems, Measurement and Control - Transactions of the ASME, vol. 137, no. 10, pp. 101005, 2015.
? W. Dong, G.Y. Gu, X. Zhu, and H. Ding, “Development of a Quadrotor TestBed: Modeling, Parameter Identification, Controller Design, and Trajectory Generation.” International Journal of Advanced Robotic Systems, vol. 12, pp. 1-7, 2015.
? W. Dong, G.Y. Gu, X. Zhu, and H. Ding, “Solving the Boundary Value Problem of an Under-Actuated Quadrotor with Subspace Stabilization Approach.” Journal of Intelligent & Robotic Systems, vol. 80, pp. 299-311, 2015.
? W. Dong, G.Y. Gu, X. Zhu, and H. Ding, “High-performance trajectory tracking control of a quadrotor with disturbance observer.” Sensors and Actuators A: Physical, vol. 211, pp. 67-77, 2014.

会议论文
? W. Dong, J. Chen, J. Yang, X. Sheng, and X. Zhu, “Towards the Development of Fractional-Order Flight Controllers for the Quadrotor.” Proceedings of the International Conference on Intelligent Robotics and Applications, pp. 63-74，Tokyo, 2016.
? W. Dong, G.Y. Gu, X. Zhu, and H. Ding, “Ball Juggling with an Under-actuated Flying Robot." Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pp. 68–73, Hamburg, 2015.
?W. Dong, G.Y. Gu, X. Zhu, and H. Ding, “Modeling and Control of a Quadrotor UAV with Aerodynamic Concepts.” Proceedings of the International Conference on Intelligent Unmanned Systems, pp.377-382, Amsterdam, 2013.
? Chen J., Wu J., Chen G., Dong W., Sheng X. (2016) Design and Development of a Multi-rotor Unmanned Aerial Vehicle System for Bridge Inspection. In: Kubota N., Kiguchi K., Liu H., Obo T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science, vol 9834. Springer, Cham.
? Gong C., Chen G., Dong W., Sheng X., Zhu X. (2019) A Separate Data Structure for Online Multi-hypothesis Topological Mapping. Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science, vol 11743. Springer, Cham.
? J. Li; W. Dong ; X. Sheng; S. Xu. (2020) Visual Servoing of Micro Aerial Vehicles with the Cooperation of Ground Vehicle. IEEE Symposium on Position Location and Navigation.

教学工作
1、本科生专业必修及方向课程：《系统模型、分析与控制》(全英文)、《多机器系统与控制》（交叉模块）；
2、研究生核心课程：《现代控制理论》（荣誉体系课程）;
3、通过本科生毕业设计、PRP项目、自主选题科创项目等方式指导本科学生超过20余人。部分学生基于所参与的科研项目成功发表国际会议文章或申请发明专利，为后续海外研究生项目的申请起到了支撑作用。目前所指导本科学生中较大比例进入了密西根大学、宾州州立大学等世界一流学府进一步深造。
4、所指导学生获第一、三届“高分”无人机竞赛一等奖，“无微不智”2019智能飞行一等奖。结合科研成果，较大比例研究生获国奖、唐奖等荣誉；研究生毕业后进入华为、INTEL、腾讯、新松等海内外知名企业担任重要研发工作。