师资队伍
教师队伍
陈章

助理研究员

导航与控制研究所

电话: 010-62797036
地点:清华大学自动化系
教育背景                  

2002年9月–2006年7月 北京航空航天大学,自动化科学与电气工程学院,学士

2006年9月–2009年1月 北京航空航天大学,自动化科学与电气工程学院,硕士

2010年9月–2014年12月 清华大学,自动化系,博士


工作履历

2009年3月–2010年8月 中国航空工业集团,飞控工程师;

2015年3月–2016年3月 航天一院,宇航智能控制技术国家重点实验室,设计员;

2016年4月–2018年12月 清华大学,深圳研究生院信息学部,博士后/助理研究员;

2019年1月–现在 清华大学,自动化系,助理研究员。


学术兼职

国防创新特区重点项目专家组专家


研究领域

1. 机器人遥操作控制;

2. 机器人运动控制;

3. 智能控制与规划


研究概况


从事机器人系统及其控制方法研究,包括时延下的机器人的遥操作控制、移动机器人的运动控制,以及机器人智能控制与规划等领域。近年来主持的国家级科研项目包括:

[1]. 中央军委科技委国防创新特区重点项目:高机动XXXX机器人研究,负责人,2020-2022

[2]. 国家自然科学基金面上项目:面向越野环境的单轨双轮机器人大机动运动控制方法研究,项目负责人,2021.01-2024.12

[3]. 国家科技部科技创新2030“脑科学与类脑研究”重大项目:类脑仿生智能无人系统,子课题负责人,2022.01-2026.12

[4]. 基础加强计划重点研究项目子课题:高自由度灵巧XXXXX本体技术,负责人,2021.01-2024.10

[5]. 中央军委科技委国防创新特区重点项目:XX高机动机器人方案及关键技术研究,项目负责人,2018-2019

[6]. 国家自然科学基金青年基金项目:面向紧耦合协调的多臂空间机器人遥操作控制方法研究,项目负责人,2018.01-2020.12

[7]. 中国博士后基金面上项目:空间机器人多臂协调遥操作控制技术研究,项目负责人,2017-2018

[8]. 国家863项目:操控飞行器精细维护遥操作技术及仿真验证技术工程化研究,课题副组长,2015.07-2016.06


奖励与荣誉


军队科技进步一等奖


学术成果


主要学术论文:

[1].    Xudong Zheng, Xianjin Zhu, Zhang Chen*, Yiyong Sun, Bin Liang, Tianshu Wang. Dynamic modeling of an unmanned motorcycle and combined balance control with both steering and double CMGs. Mechanism and Machine Theory, 2022, 169: 104643

[2].    Yiyong Sun, Haotian Zhao, Zhang Chen*, Xudong Zheng, Mingguo Zhao Bin Liang. Fuzzy model-based multi-objective dynamic programming with modified particle swarm optimization approach for the balance control of bicycle robot. IET Control Theory & Applications, 2022, 16(1): 7~19

[3].    Xudong Zheng, Taiwei Yang, Xianjin Zhu, Zhang Chen*, Xueqian Wang, Bin Liang. Dynamic modeling and experimental verification of a cable-driven continuum manipulator with cable-constrained synchronous rotating mechanisms. Nonlinear Dynamics, 2021, doi:10.1007 /s11071-021-06989-w

[4].    Ziwei Wang, H. K. Lam, Bo Xiao, Zhang Chen*, Bin Liang, Tao Zhang. Event-Triggered Prescribed-Time Fuzzy Control for Space Teleoperation Systems Subject to Multiple Constraints and Uncertainties. IEEE Transactions on Fuzzy Systems, 2021, 29(9): 2785~2797

[5].    Ye Zheng, Zhang Chen, Dailin Lv, Zhixing Li, Zhengzhong Lan, Shiyu Zhao. Air-to-Air Visual Detection of Micro-UAVs: An Experimental Evaluation of Deep Learning. IEEE Robotics and Automation Letters, 2021, 6(2): 1020~1027

[6].    Zhang Chen, Ziwei Wang, Rongjian Liang, Bin Liang, Tao Zhang. Virtual-joint based motion similarity criteria for human–robot kinematics mapping. Robotics and Autonomous Systems, 2020, 125: 103412.

[7].    Ziwei Wang, Zhang Chen*, Bin Liang. Fixed-time velocity reconstruction scheme for space teleoperation systems: Exp Barrier Lyapunov Function approach. Acta Astronautica, 2019, 157: 92-101.

[8].    Ziwei Wang, Zhang Chen*, Bin Liang, et al,. Adaptive finite-time control for bilateral teleoperation systems with jittering time delays. International Journal of Robust and Nonlinear Control, 2018;1–24. https://doi.org/10.1002/rnc.4423.

[9].    Zhang Chen, Bin Liang, Tao Zhang.  A self-adjusting compliant bilateral control scheme for time-delay teleoperation in constrained environment. Acta Astronautica, 2016, 122:185-195.

[10]. Zhang Chen, Bin Liang, Tao Zhang, et al. Adaptive bilateral control for nonlinear uncertain teleoperation with guaranteed transient performance. Robotica, 2016, 34(10): 2205.

[11]. Zhang Chen, Bin Liang, Tao Zhang, Bo Zhang, and Haitao Song. An adaptive force reflection scheme for bilateral teleoperation. Robotica, 2015, 33(7):1471-1490.

[12]. Ziwei Wang, Zhang Chen*, Bin Liang, Bo Zhang. A Novel Adaptive Finite Time Controller for Bilateral Teleoperation System. Acta Astronautica, 2018, 144: 263-270.

[13]. Yu Tian, Zhang Chen*, Chuanyi Xue, Yiyong Sun, Bin Liang,Continuous Curvature Turns Based Method for Least Maximum Curvature Path Generation of Autonomous Vehicle, IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society

[14]. Ziwei Wang, Rongjian Liang, Zhang Chen*, Bin Liang. Fast and Intuitive Kinematics Mapping for Human-Robot Motion Imitating: A Virtual-Joint-Based Approach, IFAC World Congress, 2020

[15]. Ziwei Wang, Hak-Keung Lam, Zhang Chen*, Bin Liang, Tao Zhang. Adaptive Prescribed-Time Control for Uncertain Nonlinear Systems with Non-affine Actuator Failures, IFAC World Congress, 2020

[16]. Ziwei Wang, Hak-Keung Lam, Zhang Chen*, Bin Liang and Tao Zhang. Event-Triggered Interval Type-2 Fuzzy Control for Uncertain Space Teleoperation Systems with State Constraints, IEEE International Conference on Fuzzy Systems, WCCI 2020

[17]. Zhang Chen, Bin Liang, Tao Zhang, et al. Bilateral teleoperation in cartesian space with time-varying delay. International Journal of Advanced Robotic Systems, 2012, 9(4): 110.

[18]. 陈章, 梁斌, 张涛, 等. 一种基于切换控制律的机器人双边遥操作方法. 宇航学报, 2015, 36(4): 410-418.

[19]. 张涛, 陈章, 王学谦, 梁斌. 空间机器人遥操作关键技术综述与展望. 空间控制技术与应用, 2014, 40(6): 1-9.

[20]. Xudong Zheng, Xianjin Zhu X, Zhang Chen, Xueqian Wang, Bin Liang, Qingmin Liao. An efficient dynamic modeling and simulation method of a cable-constrained synchronous rotating mechanism for continuum space manipulator. Aerospace Science and Technology, 2021, 119: 107156

[21]. Qingyuan Zheng, Duo Wang, Zhang Chen, Yiyong Sun, Bin Liang. Continuous reinforcement learning based ramp jump control for single-track two-wheeled robots. Transactions of the Institute of Measurement and Control, 2021: 1296150889

[22]. Zhen Zhou, Xudong Zheng, Qi Wang, Zhang Chen, Yiyong Sun, Bin Liang. Modeling and simulation of point contact multibody system dynamics based on the 2D LuGre friction model. Mechanism and Machine Theory, 2021, 158: 104244

[23]. Xianjin Zhu, Xudong Zheng, Qiyuan Zhang, Zhang Chen*, Yu Liu, Bin Liang. Natural Residual Reinforcement Learning for Bicycle Robot Control. ICMA 2021, 2021 IEEE International Conference on Mechatronics and Automation.

[24]. Xianjin Zhu, Xudong Zheng, Qiyuan Zhang, Zhang Chen*, Yu Liu and Bin Liang. Sim-to-Real Transfer with Action Mapping and State Prediction for Robot. 2021 6th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS 2021)

[25]. 闫安, 陈章, 董朝阳, 何康辉. 基于模糊强化学习的双轮机器人姿态平衡控制. 系统工程与电子技术, 2021, 4, 1036-1043.

*通信作者


发明专利:

授权国家发明专利20余项。