个人简介

       张清瑞博士作为中山大学“百人计划”青年学术人才加入中山大学航空航天学院。于2013年在哈尔滨工业大学获得自动化专业学士学位；于2019年在加拿大多伦多大学航空宇航研究所(University of Toronto Institute for Aerospace Studies, UTIAS)，获得航空航天科学与技术博士学位。曾在荷兰代尔夫特理工大学(TU Delft)从事博士后研究工作。

       目前，主要面向无人系统的自主性、鲁棒性和协同性需求，开展机器人学习控制、运动规划、鲁棒可靠控制以及集群控制等方面的研究工作，应用背景包括高?？鱿挛奕舜Э煽靠刂?、复杂地形下四足机器人运动控制、多无人机编队飞行、集群系统协同规划等。期望通过融合传统控制思想与学习控制的数据驱动特性，全面挖掘无人系统本体潜能，提升安全可靠性，拓展其在更广泛场景中的应用。

研究领域

  • 机器人学习与控制（Robot Learning & Control）;
  • 集群规划与控制（Swarm Planning & Control）;
  • 多机协同编队与应用（Multi-UAV Formation Flight & Its Applications）;
  • 无人系统鲁棒可靠控制（Robust and Reliable Control of Unmanned Systems）。

       目前要研究方向包括无人系统的集群规划与控制 （主）、四足机器人的学习控制（副）和无人船艇的安全可靠控制（副）。如果你对本人研究领域及当前研究方向感兴趣，非?；队ü缱佑始滴?（本校学生可以预约面谈）。沟通前，请仔细查看下面要求。

       【招生要求】：1.对无人机、机器人的规划与控制具有强烈的兴趣，具有足够好奇心、主动性，对数理公式不排斥（如果喜爱则更好）；2.对于科研有较高的自我要求，对科研项目有正确认知，具有内驱力、自律性；3.工作态度端正，对待事情有责任心，积极努力上进；4.有必要的基础知识和编程技能，包括自动控制原理（必要）、无人机动力学与控制、最优化理论与方法、Python(必要)/C++等；5.对于做实物试验或代码的实物/硬件部署不排斥，有相关经验的更佳。感兴趣的同学欢迎随时沟通。（要求1-3是必要项）

联系方式

E-mail： zhangqr9@mail.sysu.edu.cn

通讯地址：深圳市光明区新湖街道公常路66号

工作经历

2023年6月 - 至今，中山大学航空航天学院，副教授

2020年9月 - 2023年6月，中山大学航空航天学院，助理教授

2019年9月 - 2020年9月，Delft University of Technology (TU Delft)，The Netherlands，博士后

教育经历

2013年9月 - 2019年3月，The Institute for Aerospace Studies, University of Toronto, 博士研究生

2009年9月 - 2013年7月，哈尔滨工业大学，控制科学与工程系， 本科

授课情况

  • 自动控制原理（航空航天工程本科必修课，春季学期）
  • 现代控制理论基?。ㄑ芯可诵目纬?，秋季学期）

项目主持

2024年01月-2026年12月，广东省自然科学基金面上项目，主持

2024年01月-2025年12月，机器人全国广东省自然科学基金面上项目，主持

2022年09月-2025年08月，深圳市自然科学基金面上项目，主持

2022年10月-2024年09月，国家级纵向课题，主持

2022年01月-2024年12月，国家自然科学基金青年项目，主持

实验室条件

当前实验室条件包括运动捕捉系统、四旋翼无人机、地面无人车、四足机器人等。

实验场地

代表性成果

论文（*通讯作者）

[28] Guobin Zhu, Qingrui Zhang*, Bo Zhu, Tianjiang Hu，Heuristic Predictive Control for Multi-Robot Flocking in Congested Environments, 2024 (Accepted by IEEE/ASME Transactions on Mechatronics)

[27] Zhiyuan Xiao, Xinyu Zhang, Xiang Zhou, Qingrui Zhang*, PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots, Accepted by 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

[26] Xinyu Zhang, Zhiyuan Xiao, Xiang Zhou, Qingrui Zhang*, SYNLOCO-VE: Synthesizing central pattern generator with reinforcement learning and velocity estimator for quadruped locomotion, Optimal Control, Applications and Methods, 2024, Early Access, DOI: 10.1002/OCA.3181

[25] Xinyu Zhang, Zhiyuan Xiao, Qingrui Zhang*, Wei Pan, SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion. Accepted by the 2024 63rd IEEE Conference on Decision and Control (CDC). 

[24] Chenghao Yu, Dengyu Zhang, Qingrui Zhang, GRF-based Predictive Flocking Control with Dynamic Pattern Formation,2024 IEEE International Conference on Robotics and Automation (ICRA), May 13-17, 2024,PACIFICO Yokohama, Japan.

[23] Te Zhang, Bo Zhu, Lei Zhang, Qingrui Zhang, Tianjiang Hu, Time-varying uncertainty and disturbance estimator without velocity measurements: Design and application, Control Engineering Practice, 2024, 143: 105780.

[22] Zheng Zhang, Qingrui Zhang*, Bo Zhu, Xiaohan Wang, Tianjiang Hu*, EASpace: Enhanced Action Space for Policy Transfer, IEEE Transactions on Neural Networks and Learning Systems, 2024, (Early Access, DOI: 10.1109/TNNLS.2023.3322591).

[21] 张清瑞，刘赟韵，孙慧杰，朱波*，固定翼无人机紧密编队的鲁棒协同跟踪控制，航空学报，2024，45 (1): 629233-1 - 629233-17.

[20] 刘坤达，刘雪明，朱波，张清瑞*，面向狭窄通道穿越的多机编队安全鲁棒控制，航空学报（在线发表，首发时间2024-01-03，DOI: 11.1929.V.20240102.1414.002）

[19] Zheng Zhang, Dengyu Zhang, Qingrui Zhang*, Wei Pan, Tianjiang Hu*, DACOOP-A: Decentralized Adaptive Cooperative Pursuit via Attention, IEEE Robotics and Automation Letters, 2024, 9(6): 5504–5511.

[18] Dengyu Zhang, Xinyu Zhang, Zheng Zhang, Bo Zhu, Qingrui Zhang*, Reinforced Potential Field for Multi-Robot Motion Planning in Cluttered Environments, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA.

[17] Te Zhang, Lei Zhang, Bo Zhu*, Qingrui Zhang, UDE-PLC: Uncertainty and Disturbance Estimator with Phase-lead Compensation, 2023 American Control Conference (ACC), 3877-3882, San Diego, CA, USA.

[16] Te Zhang, Shiyao Li, Bo Zhu*, Qingrui Zhang, Tianjiang Hu, Robust Control Based on a Time-varying UDE for an Under-actuated 3-DOF Helicopter, IFAC-PapersOnLine, 2023, 56 (2), 4557-4562.

[15] Zheng Zhang, Xiaohan Wang, Qingrui Zhang, and Tianjiang Hu, Multi-robot Cooperative Pursuit via Potential Field-Enhanced Reinforcement Learning, 2022 IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022: 8808-8814, Philadelphia, PA, USA.

[14] Qingrui Zhang, Wei Pan, and Vasso Reppa. Model-reference reinforcement learning for collision-free tracking control of autonomous surface vehicles. IEEE Transactions on Intelligent Transportation Systems. 2022. 23(7):8770-8781.

[13] Qingrui Zhang* and Hugh H.T. Liu, “Robust nonlinear close formation control of multiple fixed-wing aircraft,” Journal of Guidance, Control, and Dynamics, 2021, 44 (3), 572-586

[12] Yujie Tang, Liang Hu*, Qingrui Zhang, and Wei Pan, Reinforcement Learning Compensated Extended Kalman Filter for Attitude Estimation, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 6854-6859.

[11] Qingrui Zhang*, Xinyu Zhang, Bo Zhu, and Vasso Reppa. Fault Tolerant Control for Autonomous Surface Vehicles via Model Reference Reinforcement Learning. 2021 60th IEEE Conference on Decision and Control (CDC), 1536-1541.

[10] Qingrui Zhang*, Wei Pan, and Vasso Reppa. Model-Reference Reinforcement Learning Control of Autonomous Surface Vehicles. Proc. of the 59th IEEE Conference on Decision and Control (CDC), 2020. 5291-5296.

[9] Huiliao Yang, Bin Jiang, Hugh H.T. Liu, Hao Yang, and Qingrui Zhang, Attitude Synchronization For Multiple 3-DOF Helicopters With Actuator Faults, IEEE/ASME Transactions on Mechatronics, 2019, 24(2):597-608.

[8] Qingrui Zhang, Hugh HT Liu*, Aerodynamic model-based robust adaptive control for close formation flight, Aerospace Science and Technology, 2018, 79:5-16.

[7] Qingrui Zhang* and Hugh H.T. Liu, UDE-based robust command filtered backstepping control for close formation flight, IEEE Transactions on Industrial Electronics, 65 (11): 8818-8827, 2018

[6] Bo Zhu*, Qingrui Zhang, Hugh HT Liu, Design and experimental evaluation of robust motion synchronization control for multivehicle system without velocity measurements, International Journal of Robust and Nonlinear Control, 2018, 28(17): 5437-5463

[5] Pin Lyu， Jizhou Lai， Jianye Liu， Hugh H.T. Liu, and Qingrui Zhang, A Thrust Model Aided Fault Diagnosis Method for the Altitude Estimation of a Quadrotor, IEEE Transactions on Aerospace and Electronic Systems, 2018, 54(2):1008-1019.

[4] Qingrui Zhang, Hugh H.T. Liu*, Aerodynamics Modeling and Analysis of Close Formation Flight, Journal of Aircraft, 2017,54(6):2192-2204.

[3] Qingrui Zhang, Hugh H.T. Liu*, Integrator-augmented robust adaptive control design for close formation flight, AIAA Guidance, Navigation, and Control Conference, 2017, 1255-10, Grapevine, Texas, USA

[2] Qingrui Zhang, Hugh H.T. Liu*, Robust design of close formation flight control via uncertainty and disturbance estimator, AIAA Guidance, Navigation, and Control Conference, 2016, 2102-24, San Diego, California, USA

[1] Bo Zhu, Qingrui Zhang, Hugh H.T. Liu*, A comparative study of robust attitude synchronization controllers for multiple 3-DOF helicopters, 2015 American Control Conference (ACC), 5960-5965, Chicago, IL, USA

专利授权

[1]张清瑞，熊培轩，张雷，朱波，胡天江.一种基于模型参考强化学习的无人船容错控制方法.专利号： 202111631716.8[P]. 2023.09.11，授权.

个人荣誉

  • GN Patterson Student Award (2019年多伦多大学航空航天研究所最佳博士论文奖，1人/每年)

学术服务

  • 会员：AIAA，IEEE.
  • 审稿人（期刊）：Aerospace Science and Technology, Journal of Guidance, Control, and Dynamics; IEEE Transactions on Robotics; Aerospace Science and Technology; IEEE Transactions on Systems, Man, and Cybernetics - Systems等。
  • 审稿人（会议）：International Conference on Intelligent Robots and Systems (IROS); IEEE Conference on Robot Learning (CoRL); IEEE Conference on Decision and Control (CDC); IEEE American Control Conference (ACC); IEEE International Conference on Robotics and Automation (ICRA)等