无人系统决策与控制、非线性系统控制、强化学习、分布式协同、飞行控制等

在研项目：

1. 173基础加强计划技术领域基金项目，2022-JCJQ-JJ-0705，复杂环境下分布式群体协同自适应决策方法及应用研究, 2022/10-2025/10, 150万元，在研，主持。

2. 国家自然科学基金青年项目，62103189，受约束多运动体的协调行为分析与鲁棒编队控制研究，2022/01-2024/12，30万元，在研，主持。

3.  第2批博士后特别资助项目（站前），2020T10150，多约束飞行器非合作式编队的鲁棒控制及应用，2020/08-2022/08，18万元，在研，主持。

4.  第67批博士后面上项目，2020M671482，具有非完整约束的多自主系统编队控制与避碰问题研究，2020/07-2022/07，8万元，在研，主持。

5. 航空科学基金，20220051052001，面向无人机协同攻击作战的分布式指挥控制技术研究，2023.03-2025.03，20万元，在研，主持。

6. 国家自然科学基金重点项目，62233009，有人-无人集群飞行器的容错博弈控制理论与技术，2023/01-2027/12，288万，在研，参与。

7. 若干个横向项目，基于课题组的创新性研究成果，与研究所合作开发软件及应用验证。

已结题项目：

1.  装备预研国防重点实验室项目，6142504200107，蜂群无人机分布式自主协同控制技术研究，2020/01-2021/12，20万元，已结题，主持。

2.  军科委国防重点实验室项目，2021-JCJQ-LB-010-02，面向航天器在轨服务的自主行为决策、控制与评价方法研究，2021/11-2023/12，15万元，已结题，主持。

3.  江苏省青年自然基金项目，BK20200438，欠驱动无人机群体系统的协同编队行为分析及控制方法研究，2020/08-2022/08，20万元，已结题，主持。

4.  澳门青年学者计划，AM2021005，复杂运营环境下桥梁结构时变随机动力特性识别算法及其长期演化机制研究，2022/01-2023/12，60万，在研，独立承担人（中国博士后国/境外交流项目）。

5. 科技部高端外国专家引进计划项目，G2022181019L，面向大型建筑结构健康监测的无人机智能控制与贝叶斯推断技术研究，2022/01-2023/12，18万，在研，主持。

6.  中央高校基本科研业务费青年项目，NS2021024，复杂环境下受约束运动体的网络化编队控制研究，2021/01-2022/12，10万元，已结题，主持。

7.  2020年江苏省双创博士项目，无人系统的自主控制方法研究，2020/09-2022/09，15万，已结题，独立承担人（江苏省引进博士世界名校类奖励计划）。

8.  南京航空航天大学校人才科研启动基金，1003-YAH19088，欠驱动约束下无人集群系统的协同控制研究，2019/09-2020/12，6万元，已结题，主持。

9. 国家自然科学基金面上项目，61773024，欠驱动多运载体的协同控制，2018/01-2022/12，69万元，已结题，参与。

[1] Xiuhui Peng; Zuoming Zhang; Ancai Zhang; Ka-Veng Yuen ; Anti-Saturation Backstepping Control for Quadrotor Slung Load System with Fixed-Time Prescribed Performance, IEEE Transactions on Aerospace and Electronic Systems, 2024, DOI: 10.1109/TAES.2024.3372487.

[2] Xiuhui Peng, Zhiyong Sun, Chen Mou*, Zhiyong Geng, Arbitrary Configuration Stabilization Control for Nonholonomic Vehicle with Input Saturation: a c-Nonholonomic Trajectory Approach，IEEE Transactions on Industrial Electronics，vol. 69, no. 2, pp: 1663-1672, 2022.

[3]  Xiuhui Peng, Zhiyong Sun, Chen Mou*, Zhiyong Geng, Robust noncooperative attitude tracking control for rigid bodies on rotation matrices subject to input saturation constraint. International Journal of Robust and Nonlinear Control, 32(3): 1583-1603, 2022.

[4]   Xiuhui Peng*, Zhiyong Sun, Kexin Guo, Zhiyong Geng, Mobile Formation Coordination and Tracking Control for Multiple Non-holonomic Vehicles. IEEE/ASME Transactions on Mechatronics，vol. 25, no. 3, pp: 1231-1242, 2020.

[5]  Xiuhui Peng, Junyong Sun, Zhiyong Geng*, A specified-time control framework for control-affine systems and rigid bodies: a time-rescaling approach. International Journal of Robust and Nonlinear Control，vol. 29, no. 10, pp: 3163-3182, 2019.

[6]  Xiuhui Peng, Zhiyong Geng*, Distributed observer-based leader-follower attitude consensus control for multiple rigid bodies using rotation matrices. International Journal of Robust and Nonlinear Control，vol. 29, no. 14, pp: 4755-4774, 2019. 

[7]   Xiuhui Peng, Zhiyong Geng*, Junyong Sun, The specified finite-time distributed observers based velocity-free  attitude synchronization for rigid bodies on SO(3). IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 50, no. 4, pp: 1610-1621, 2020.

[8]   Xiuhui Peng, Kexin Guo, Xue Li, Zhiyong Geng*, Cooperative Moving-Target Enclosing Control for Multiple Non-holonomic Vehicles Using Feedback Linearization Approach. IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 51, no. 8, pp: 4929 - 4935, 2021.

[9]   Xiuhui Peng, Junyong Sun, Zhiyong Geng*, The geometric convexity on SE(3) and its application to the formation tracking in multi-vehicle systems. International Journal of Control，vol: 92, no: 3, pp: 528-539,2019.

[10]  Xiuhui Peng, Kexin Guo, Zhiyong Geng*, Moving target circular formation control of multiple non-holonomic vehicles without global position measurements. IEEE Transactions on Circuits and Systems II: Express Briefs，vol. 67, no. 2, pp: 310-314, 2019.

[11] Xiuhui Peng, Renkai Yi, Zhiyong Sun, Ka-Veng Yuen*, Target enclosing control for fixed-wing unmanned aerial vehicle in three dimensional space: An attractive vector approach[J]. Journal of the FranklinInstitute, 361(2):1010-1022, 2024.

[12]  Xiuhui Peng, Zhou Yijia, Yu Jianlan, Kexin Guo*, Zhiyong Geng, Predictor-based pose stabilization control for unmanned vehicles on SE (3) with actuator delay and saturation. Aerospace Science and Technology, 117, 106942, 2021.

[13]  Xiuhui Peng, Zhiyong Geng*, Exponentially convergent angular velocity estimator design for rigid body motion : a singular perturbation approach. Science China Information Sciences, vol. 63，no. 2, pp: 129202, 2019. 

[14] Zuoming Zhang, Xiuhui Peng*, Ancai Zhang, Trajectory Tracking Control for Quadrotor Slung Load System With Unknown Load's Linear Velocity and Cable Length[J]. IEEE Transactions on Intelligent Vehicles, 9(1): 2576 – 2587, 2024.

[15]  Xue Li, Xiuhui Peng, Zhiyong Geng*, Anti-swing control for 2-D under-actuated cranes with load hoisting/lowering: a coupling-based approach, ISA Transactions, vol: 95, pp: 372-378, 2019.

[16]  Tayefi, Morteza，Zhiyong Geng*, Xiuhui Peng, Coordinated tracking for multiple nonholonomic vehicles on SE(2). Nonlinear Dynamics, vol: 87, no: 1, pp: 665-675, 2017.

[17]  Mingxiang Wang, Zhiyong Geng*, Xiuhui Peng, Measurement-Based Method for Nonholonomic Mobile Vehicles with Obstacle Avoidance. Journal of the Franklin Institute，vol: 357, no:12, pp: 7761-7778, 2020.

[18]陈啸林,彭秀辉*,孔金涛.有限信息条件下多无人机协同搜索及试验验证[J/OL].控制工程 :1-8[2024-01-28].https://doi.org/10.14107/j.cnki.kzgc.20220978.

[19] 高瑞周,孔金涛,汤陈,彭秀辉*.基于Beta分布的目标搜索概率自适应更新策略及其应用[J/OL].电光与控制 .

[1]     Xiuhui Peng, Zhiyong Geng*, Tayefi, Morteza, Containment control based formation tracking for multi-vehicles on Lie Group. 2016 35th Chinese Control Conference (CCC), 7751–7756.

[2]     Xiuhui Peng, Junyong Sun, Zhiyong Geng*, Exponential attitude and gyro-bias estimation on the Special orthogonal group SO(3). 2017 36th Chinese Control Conference (CCC), 838 - 843.

[3]     Xiuhui Peng, Xiaodong He, Zhiyong Geng*, Specified finite time attitude stabilization for rigid body on SO(3). 2018 37th Chinese Control Conference (CCC), 933–938.

[4]     Xiuhui Peng, Zhiyong Geng*, Distributed rendezvous and consensus control of multiple unicycle-type vehicles under directed graphs. 2019 20th IEEE International Conference on Industrial Technology, 1136–1141.

[5]     Junyong Sun, Xiuhui Peng, Zhiyong Geng*, Disturbance observer-based attitude stabilization on lie groups. 2016 35th Chinese Control Conference (CCC), 1034–1038.

[6]     Xue Li, Xiuhui Peng, Zhiyong Geng*, A double-sliding surface based control method for underactuated cranes. 2018 37th Chinese Control Conference (CCC), 2648–2652.

[7]     Xiaodong He, Zhiyong Geng*, Xiuhui Peng, Consensus control for vehicles with nonholonomic constraints on special euclidean group SE(2). 2018 Chinese Control and Decision Conference (CCDC), 2398–2403.

[8]     Mingxiang Wang, Zhiyong Geng*, Xiuhui Peng, Obstacle avoidance control for non-holonomic vehicles on Lie group SE(2): a rotating attractive vector approach. 2019 38th Chinese Control Conference (CCC), 485-490.

实验室拥有四旋翼、直升机、多模态无人车等多种运动体控制实验平台，可以为决策与控制类方法提供验证平台，具体如下：

部分实验成果：

多四旋翼自主决策与控制

基于ROS的四旋翼编队飞行控制

四旋翼视觉跟踪控制

直升机飞行控制

平面非完整约束运动体的自主位姿镇定控制

平面非完整约束运动体的自主编队控制

航天器姿态同步控制

更多成果可访问下列学术链接

https://scholar.google.com/citations?user=yu5iYbgAAAAJ&hl=zh-CN