群体智能，人工智能，强化学习, 非线性控制，无人机，飞行控制，游戏AI，足球AI

本课题组致力于从多学科视角融合、知识与数据驱动融合、虚拟仿真与实体验证融合等路径开展群体智能、多智能体强化学习、飞行器自主控制、博弈论、组合优化等相关基础理论和应用实践研究。课题组长期从事飞行器、地面无人系统等控制与决策研究，除在理论方法上持续突破外，还拥有全自主可控的无人机、无人车、物流机器人等硬件平台，可实现从算法创新到虚实融合验证的整套研究与应用验证。课题组参与2020全国多智能体对抗博弈挑战赛，从200多支队伍中脱颖而出，获异构组第1名、同构组第2名；参加2021全国空中智能博弈大赛，获得第1名;参加2023全国集群智能技术挑战赛，获得第1名。当前，主要开展智能无人集群系统组合优化、群体博弈、大模型与群体决策等方向理论与实践相结合的研究，部分已实现产品和应用解决方案；同时围绕足球博弈对抗方向，开展虚实结合的足球对抗研究。本课题组每年接收相关博士、硕士研究生，同时常年招聘感知智能、决策智能、群体博弈对抗、大模型、智能控制、飞控系统、软件开发等岗位实习生、访学生或联培生，有意者可邮件联系。

2024年2月更新：本课题组常年招聘群体决策智能、多智能体强化学习、运筹优化、数据分析与挖掘、飞行控制及软硬件开发相关岗位正式员工、实习生、访问学者等，有意者可邮件联系。

更多关于我研究方向的介绍，可查看如下报告视频：

【CAA云讲座】中科院自动化所蒲志强教授：知识与数据协同驱动的群智决策研究与实践_哔哩哔哩_bilibili

AAAI 2022: Concentration Network for Reinforcement Learning of Large-Scale Multi-Agent Systems 大规模多智能体博弈对抗（Accepted by AAAI 2022)_哔哩哔哩_bilibili

更多精彩内容(2022年更新）：collect-ai群智大脑的个人空间_哔哩哔哩_bilibili

足球博弈对抗研究：【学术前沿】中科院自动化所蒲志强团队：“基于博弈对抗的足球推演系统”项目取得系列创新进展 (qq.com)

081101-控制理论与控制工程

群体智能，非线性控制，无人机，飞行控制，人工智能，强化学习，游戏AI，足球AI

2009-09--2014-06   中国科学院大学   工学博士学位
2005-09--2009-06   武汉大学自动化系   工学学士学位

研究生

工学博士

   

2022-07~现在, 中国科学院自动化研究所, 研究员
2018-11~现在, 江苏中科智能制造研究院, 副院长
2018-04~2019-08,科技部高新司, 借调干部
2016-11~2022-06,中国科学院自动化研究所, 副研究员
2014-07~2016-10,中国科学院自动化研究所, 助理研究员

2021-06-30-2026-06-29,中国自动化学会普及工作委员会委员, 委员
2020-12-01-2025-12-31,中国仿真学会智能物联系统建模与仿真专委会委员,
2019-12-13-今,中国指挥与控制学会集群智能与协同控制专业委员会委员,
2019-12-06-今,中国航空学会制导、导航与控制分会委员,
2018-11-01-今,中国自动化学会无人飞行器自主控制专业委员会委员,
2017-01-01-今,中国科学院青年创新促进会会员,

机器人智能控制

   

（1） 2023年度吴文俊人工智能自然科学奖, 二等奖, 国家级, 2023
（2） 2023全国集群智能技术挑战赛第1名, 特等奖, 国家级, 2023
（3） 北京市科技新星, 省级, 2022
（4） 2021 CCSICC优秀论文奖, , 国家级, 2021
（5） 2021 IROS Best Paper Award on Cognitive Robotics-Finalist, , 国家级, 2021
（6） 2021全国空中智能博弈大赛第1名, 一等奖, 国家级, 2021
（7） 中国指挥与控制学会“青年才俊奖”, 一等奖, 国家级, 2020
（8） 2020第二届全国多智能体对抗博弈挑战赛同构组第二名, 二等奖, 国家级, 2020
（9） 2020第二届全国多智能体对抗博弈挑战赛异构组第一名, 一等奖, 国家级, 2020
（10） WCICA Best Paper Award, , 国家级, 2012

[1] 蒲志强, 刘博寅, 潘一, 王诗杰, 丘腾海. 一种针对球场运动球员的动态策略优化方法及装置. ZL202111585625.5, 2021-12-23.

[2] 刘振, 周志明, 吴士广, 蒲志强, 丘腾海, 易建强. 多智能体行为决策方法、装置、电子设备和存储介质. CN: CN113128657A, 2021-07-16.

[3] 刘振, 吴士广, 张天乐, 蒲志强, 丘腾海, 易建强. 飞行器建模与模型特性分析系统. CN: CN112711815A, 2021-04-27.

[4] 丘腾海, 蒲志强, 刘振, 易建强, 常红星. 基于强化学习的飞行器姿态控制方法、系统、装置. CN: CN112198890B, 2021-04-13.

[5] 丘腾海, 蒲志强, 刘振, 易建强, 常红星, 张海莹, 张天乐, 王彗木. 基于知识与数据驱动的无人车分层决策方法、系统、装置. CN: CN111874007B, 2021-03-16.

[6] 丘腾海, 吴士广, 蒲志强, 刘振, 易建强, 常红星. 基于知识嵌入的区域覆盖和连通保持的集群控制方法. CN: CN112203291B, 2021-02-23.

[7] 刘振, 蒲志强, 丘腾海, 康扬名, 易建强. 基于多无人机协同博弈对抗的控制系统. CN: CN111221352B, 2021-01-29.

[8] 蒲志强, 王彗木, 刘振, 丘腾海, 易建强. 多智能体时空特征提取方法及系统、行为决策方法及系统. CN: CN111814915B, 2020-12-25.

[9] 蒲志强, 刘振, 王彗木, 丘腾海, 易建强. 分布式多智能体时空特征提取方法、行为决策方法. CN: CN111738372B, 2020-11-17.

[10] 丘腾海, 蒲志强, 刘振, 易建强, 常红星, 吴士广, 康扬名, 王乐乐. 基于混合式架构的群体智能协同方法和系统. CN: CN111830995A, 2020-10-27.

[11] 丘腾海, 蒲志强, 刘振, 易建强. 一种群体体温检测系统与方法. CN: CN111772595A, 2020-10-16.

[12] 丘腾海, 蒲志强, 刘振, 易建强, 常红星. 一种基于改进A*算法和深度强化学习的无人车路径规划方法. CN: CN111780777A, 2020-10-16.

[13] 丘腾海, 蒲志强, 刘振, 易建强. 一种基于多无人机的大气环境监测方法与系统. CN: CN111765924A, 2020-10-13.

[14] 蒲志强, 丘腾海, 谭湘敏, 易建强. 基于队形库的多无人机队形编队方法. CN: CN107065922B, 2020-02-07.

[15] 蒲志强, 谭湘敏, 易建强, 常红星, 丘腾海. 基于多旋翼无人机编队的字符显示方法及系统. CN: CN106843271B, 2019-11-15.

[16] 蒲志强, 谭湘敏, 易建强, 丘腾海. 考虑地效的多旋翼自主起降控制方法及装置. CN: CN106708067B, 2019-10-15.

[17] 易建强, 眭泽智, 蒲志强, 陶新龙. 多旋翼无人机. 中国: CN207374661U, 2018.05.18.

[18] 蒲志强, 高俊龙, 易建强, 谭湘敏. 可移动式多旋翼无人机自主基站系统. 中国: CN105763230B, 2018-11-13.

[19] 蒲志强, 杜晗, 易建强, 谭湘敏. 多无人机自主协同决策快速集成系统. 中国: CN105700553B, 2018-06-26.

[20] 易建强, 眭泽智, 蒲志强, 陶新龙. 多旋翼无人机及其控制方法. 中国: CN107856850A, 2018-03-30.

[21] 谭湘敏, 蒲志强, 李书晓, 朱承飞, 易建强, 常红星. 智能电动花洒. 中国: CN206253248U, 2017-06-16.

[22] 谭湘敏, 蒲志强, 李书晓, 朱承飞, 易建强, 常红星. 基于多无人机的多维空中演示系统. 中国: CN206258735U, 2017-06-16.

[23] 谭湘敏, 易建强, 范国梁, 蒲志强. 一种液体流量控制系统. 中国: CN204989999U, 2016-01-20.

[24] 蒲志强, 高俊龙, 易建强, 谭湘敏. 一种被动增稳可变形起落架陆空飞行机器人. 中国: CN105109675A, 2015.12.02.

[25] 蒲志强, 高俊龙, 易建强, 谭湘敏. 可变形多模态陆空飞行机器人. 中国: CN105034729A, 2015-11-11.

[26] 谭湘敏, 易建强, 袁如意, 蒲志强. 电力线巡检用的多旋翼飞行器以及基于它的系统. 中国: CN103612756A, 2014.03.05.

[27] 谭湘敏, 易建强, 范国梁, 袁如意, 蒲志强. 基于多旋翼飞行器的隧道巡检系统. 中国: CN104199455A, 2014-12-10.

[28] 谭湘敏, 易建强, 袁如意, 蒲志强. 一种光盘自动刻录传送系统及方法. 中国: CN104200820A, 2014-12-10.

[29] 谭湘敏, 易建强, 袁如意, 蒲志强. 基于多旋翼飞行器的拖拽式无人施液系统. 中国: CN104002974A, 2014-08-27.

   

[1] Shijie Wang, Pu, Zhiqiang, Yi Pan, Boyin Liu, Hao Ma, Yi, Jianqiang. Long-term and short-term opponent intention inference for football multi-player policy learning. Ieee transactions on cognitive and developmental systems[J]. 2024, 第 2 作者  通讯作者  early access: 1-15, https://ieeexplore.ieee.org/document/10536732.
[2] Qingxu Fu, Pu, Zhiqiang, Yi Pan, Tenghai Qiu, Yi, Jianqiang. Fuzzy feedback multi-agent reinforcement learning for adversarial dynamic multi-team competitions. IEEE TRANSACTIONS ON FUZZY SYSTEMS[J]. 2024, 第 2 作者  通讯作者  32(5): 2811-2824, https://ieeexplore.ieee.org/abstract/document/10424698.
[3] Zhiqiang Pu, Yi Pan, Shijie Wang, Boyin Liu, Min Chen, Hao Ma, Yixiong Cui. Orientation and Decision-Making for Soccer Based on Sports Analytics and AI:A Systematic Review. IEEE/CAA JOURNAL OF AUTOMATICA SINICA[J]. 2024, 第 1 作者11(1): 37-57, http://lib.cqvip.com/Qikan/Article/Detail?id=7111280216.
[4] Jinlin Sun, Pu, Zhiqiang, Chang, Yafei, Shihong Ding, Yi, Jianqiang. Appointed-time control for flexible hypersonic vehicles with conditional disturbance negation. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS[J]. 2023, 第 2 作者  通讯作者  early access: 1-17, https://ieeexplore.ieee.org/document/10121615.
[5] 张天乐, 刘振, Pu, Zhiqiang, 易建强, 艾晓琳, 袁莞迈. Learning Cooperative Policies with Graph Networks in Distributed Swarm Systems. 2023 International Joint Conference on Neural Networks (IJCNN2023). 2023, 第 3 作者https://ieeexplore.ieee.org/document/10191136/.
[6] Hao Ma, Pu, Zhiqiang, Yi Pan, Boyin Liu, Junlong Gao, Zhenyu Guo. Causal mean field multi-agent reinforcement learning. 2023 International Joint Conference on Neural Networks (IJCNN2023). 2023, 第 2 作者  通讯作者  
[7] Min Chen, Pu, Zhiqiang, Yi Pan, Yi, Jianqiang, Yixiong Cui, Lida Du. All for goals: a stylized automated analysis framework in football matches. 2023 International Joint Conference on Neural Networks (IJCNN2023). 2023, 第 2 作者  通讯作者  
[8] Shijie Wang, Yi Pan, Pu, Zhiqiang, Yi, Jianqiang, Yanyan Liang, Du Zhang. Heterogeneous-graph attention reinforcement learning for football matches. 2023 International Joint Conference on Neural Networks (IJCNN2023). 2023, 第 3 作者https://ieeexplore.ieee.org/document/10191648/.
[9] Pu, Zhiqiang, Tianle Zhang, Xiaolin Ai, Tenghai Qiu, Yi, Jianqiang. A Deep Reinforcement Learning Approach Combined With Model-Based Paradigms for Multiagent Formation Control With Collision Avoidance. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS[J]. 2023, 第 1 作者https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10047984.
[10] Wu, Shiguang, Pu, Zhiqiang, Qiu, Tenghai, Yi, Jianqiang, Zhang, Tianle. Deep-Reinforcement-Learning-Based Multitarget Coverage With Connectivity Guaranteed. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS[J]. 2023, 第 2 作者  通讯作者  19(1): 121-132, http://dx.doi.org/10.1109/TII.2022.3160629.
[11] Lexing Wang, Tenghai Qiu, Pu, Zhiqiang, Yi, Jianqiang, Jinying Zhu, Yanjie Zhao. A decision-making method for swarm agents in attack-defense confrontation. IFAC 2023. 2023, 第 3 作者https://www.sciencedirect.com/science/article/pii/S2405896323003580.
[12] Boyin Liu, Pu, Zhiqiang, Yi Pan, Yi, Jianqiang, Yanyan Liang, Du Zhang. Lazy agents: a new perspective on solving sparse reward problem in multi-agent reinforcement learning. The Fortieth International Conference on Machine Learning （ICML 2023). 2023, 第 2 作者  通讯作者  
[13] Qingxu Fu, Tenghai Qiu, Pu, Zhiqiang, Yi, Jianqiang, Xiaolin Ai, 袁莞迈. Learning superior cooperative policy in adversarial multi-team reinforcement learning. 2023 International Joint Conference on Neural Networks (IJCNN2023). 2023, 第 3 作者https://ieeexplore.ieee.org/document/10191422/.
[14] Wu, Shiguang, Pu, Zhiqiang, Tianle Zhang, Tenghai Qiu, Yi, Jianqiang. Multi-agent local information reconstruction for situational cognition. 2022 International Joint Conference on Neural Networks (IJCNN2022). 2022, 第 2 作者  通讯作者  https://ieeexplore.ieee.org/document/9892770/.
[15] 蒲志强, 易建强, 刘振, 丘腾海, 孙金林, 李非墨. 知识和数据协同驱动的群体智能决策方法研究综述. 自动化学报[J]. 2022, 第 1 作者48(3): 627-643, http://www.aas.net.cn/cn/article/doi/10.16383/j.aas.c210118.
[16] Pu, Zhiqiang, Wang, Huimu, Liu, Zhen, yi jianqiang, Wu, Shiguang. Attention enhanced reinforcement learning for multi-agent cooperation. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS[J]. 2022, 第 1 作者https://ieeexplore.ieee.org/document/9716772.
[17] Boyin Liu, Pu, Zhiqiang, Tianle Zhang, Wang, Huimu, Yi, Jianqiang. Learning to play football from sports domain perspective: a knowledge-embedded deep reinforcement learning framework. IEEE TRANSACTIONS ON GAMES[J]. 2022, 第 2 作者  通讯作者  https://ieeexplore.ieee.org/document/9893354/.
[18] Min Chen, Pu, Zhiqiang, Yi Pan, Yi, Jianqiang. Knowledge transfer from situation evaluation to multi-agent reinforcement learning. International Conference on Neural Information Processing (ICONIP 2022). 2022, 第 2 作者  通讯作者  https://link.springer.com/chapter/10.1007/978-981-99-1639-9_1.
[19] Sun, Jinlin, He, Haibo, Yi, Jianqiang, Pu, Zhiqiang. Finite-Time Command-Filtered Composite Adaptive Neural Control of Uncertain Nonlinear Systems. IEEE TRANSACTIONS ON CYBERNETICS[J]. 2022, 第 4 作者52(7): 6809-6821, http://dx.doi.org/10.1109/TCYB.2020.3032096.
[20] Pu, Zhiqiang, Xiaolin Ai, Yi, Jianqiang. Velocity and input constrained distributed nash equilibrium seeking for multi-agent integrated game and control via event-triggered communication. Nonlinear Dynamics[J]. 2022, 第 1 作者pp: 1-18, https://link.springer.com/article/10.1007/s11071-022-07582-5.
[21] Sun, Jinlin, Yi, Jianqiang, Pu, Zhiqiang. Fixed-Time Adaptive Fuzzy Control for Uncertain Nonstrict-Feedback Systems With Time-Varying Constraints and Input Saturations. IEEE TRANSACTIONS ON FUZZY SYSTEMS[J]. 2022, 第 3 作者  通讯作者  30(4): 1114-1128, http://dx.doi.org/10.1109/TFUZZ.2021.3052610.
[22] Pu, Zhiqiang, Huimu Wang, Boyin Liu, Yi, Jianqiang. Cognition-Driven Multi-Agent Policy Learning Framework for Promoting Cooperation. IEEE TRANSACTIONS ON GAMES[J]. 2022, 第 1 作者pp: 1-12, https://ieeexplore.ieee.org/document/9807394.
[23] Boyin Liu, Pu, Zhiqiang, Junlong Gao, Yi, Jianqiang, Zhenyu Guo. Tacit commitments emergence in multi-agent reinforcement learning. International Conference on Neural Information Processing (ICONIP 2022). 2022, 第 2 作者  通讯作者  https://link.springer.com/chapter/10.1007/978-3-031-30105-6_3.
[24] Lexing Wang, Pu, Zhiqiang, Tenghai Qiu, Zhen Liu, Yi, Jianqiang. A Selected Interaction Swarming Algorithm for Connected Dynamic Coverage of Mobile Sensor Networks. American Control Conference (ACC 2022). 2022, 第 2 作者  通讯作者  https://ieeexplore.ieee.org/abstract/document/9867271/.
[25] Tao, Xinlong, Yi, Jianqiang, Pu, Zhiqiang, Xiong, Tianyi. Robust Adaptive Tracking Control for Hypersonic Vehicle Based on Interval Type-2 Fuzzy Logic System and Small-Gain Approach. IEEE TRANSACTIONS ON CYBERNETICS[J]. 2021, 第 3 作者  通讯作者  51(5): 2504-2517, http://dx.doi.org/10.1109/TCYB.2019.2927309.
[26] Pu Zhiqiang. Multi-target Coverage with Connectivity Maintenance using Knowledge-incorporated Policy Framework. ICRA 2021[J]. 2021, 第 1 作者  通讯作者  
[27] Pu, Zhiqiang, Sun, Jinlin, Yi, Jianqiang, Gao, Zhiqiang. On the Principle and Applications of Conditional Disturbance Negation. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS[J]. 2021, 第 1 作者51(11): 6757-6767, 
[28] Sui, Zezhi, Pu, Zhiqiang, Yi, Jianqiang, Wu, Shiguang. Formation Control With Collision Avoidance Through Deep Reinforcement Learning Using Model-Guided Demonstration. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS[J]. 2021, 第 2 作者  通讯作者  32(6): 2358-2372, 
[29] Wang, Huimu, Pu, Zhiqiang, Liu, Zhen, Yi, Jianqiang, Qiu, Tenghai, IEEE. A Soft Graph Attention Reinforcement Learning for Multi-Agent Cooperation. 2020 IEEE 16TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE). 2020, 第 2 作者1257-1262, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000612200600180.
[30] Pu Zhiqiang. Multi-agent Cooperation and Competition with Two-level Attention Network. ICONIP 2020. 2020, 第 1 作者  通讯作者  
[31] Sun, Jinlin, Pu, Zhiqiang, Yi, Jianqiang, Liu, Zhen. Fixed-Time Control With Uncertainty and Measurement Noise Suppression for Hypersonic Vehicles via Augmented Sliding Mode Observers. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS[J]. 2020, 第 2 作者  通讯作者  16(2): 1192-1203, https://www.webofscience.com/wos/woscc/full-record/WOS:000521337000045.
[32] Pu Zhiqiang. Improved Self-Propelled Swarms Model with Enhanced Convergence Efficiency. ICGNC 2020. 2020, 第 1 作者  通讯作者  
[33] Zhang, Tianle, Liu, Zhen, Wu, Shiguang, Pu, Zhiqiang, Yi, Jianqiang, IEEE. Multi-Robot Cooperative Target Encirclement through Learning Distributed Transferable Policy. 2020 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN). 2020, 第 4 作者
[34] Sun, Jinlin, Yi, Jianqiang, Pu, Zhiqiang, Tan, Xiangmin. Fixed-Time Sliding Mode Disturbance Observer-Based Nonsmooth Backstepping Control for Hypersonic Vehicles. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS[J]. 2020, 第 3 作者50(11): 4377-4386, http://dx.doi.org/10.1109/TSMC.2018.2847706.
[35] Zhang, Tianle, Qiu, Tenghai, Pu, Zhiqiang, Liu, Zhen, Yi, Jianqiang. Robot Navigation among External Autonomous Agents through Deep Reinforcement Learning using Graph Attention Network. IFAC PAPERSONLINE. 2020, 第 3 作者53(2): 9465-9470, http://dx.doi.org/10.1016/j.ifacol.2020.12.2419.
[36] Xiong, Tianyi, Pu, Zhiqiang, Yi, Jianqiang, Tao, Xinlong. Fixed-time observer based adaptive neural network time-varying formation tracking control for multi-agent systems via minimal learning parameter approach. IET CONTROL THEORY AND APPLICATIONS[J]. 2020, 第 2 作者  通讯作者  14(9): 1147-1157, https://www.webofscience.com/wos/woscc/full-record/WOS:000538128500004.
[37] Wu, Shiguang, Pu, Zhiqiang, Yi, Jianqiang, Sun, Jinlin, Xiong, Tianyi, Qiu, Tenghai, IEEE. Adaptive Flocking of Multi-Agent Systems with Uncertain Nonlinear Dynamics and Unknown Disturbances Using Neural Networks. 2020 IEEE 16TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE). 2020, 第 2 作者1090-1095, 
[38] Sun, Jinlin, Yi, Jianqiang, Pu, Zhiqiang, Liu, Zhen. Adaptive Fuzzy Nonsmooth Backstepping Output-Feedback Control for Hypersonic Vehicles With Finite-Time Convergence. IEEE TRANSACTIONS ON FUZZY SYSTEMS[J]. 2020, 第 3 作者28(10): 2320-2334, http://dx.doi.org/10.1109/TFUZZ.2019.2934934.
[39] 王乐乐, 眭泽智, 蒲志强, 刘振, 易建强. 一种改进RRT的多机器人编队路径规划算法. 电子学报[J]. 2020, 第 3 作者48(11): 2138-2145, http://lib.cqvip.com/Qikan/Article/Detail?id=7103383764.
[40] Jianqiang Yi. Robust Fuzzy Tracking Control for Flexible Air-breathing Hypersonic Vehicles with Measurement Noise. Transactions of the Institute of Measurement and Control. 2019, 
[41] Sui, Zezhi, Pu, Zhiqiang, Yi, Jianqiang, Xiong, Tianyi, IEEE. Formation Control with Collision Avoidance through Deep Reinforcement Learning. 2019 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN). 2019, 第 2 作者
[42] Sun, Jinlin, Yi, Jianqiang, Pu, Zhiqiang. Augmented fixed-time observer-based continuous robust control for hypersonic vehicles with measurement noises. IET CONTROL THEORY AND APPLICATIONS[J]. 2019, 第 3 作者13(3): 422-433, http://ir.ia.ac.cn/handle/173211/25301.
[43] Xiong, Tianyi, Pu, Zhiqiang, Yi, Jianqiang, Sui, Zezhi, IEEE. Adaptive Neural Network Time-varying Formation Tracking Control for Multi-agent Systems via Minimal Learning Parameter Approach. 2019 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN). 2019, 第 2 作者
[44] Tao, Xinlong, Yi, Jianqiang, Pu, Zhiqiang, Xiong, Tianyi. State-Estimator-Integrated Robust Adaptive Tracking Control for Flexible Air-Breathing Hypersonic Vehicle With Noisy Measurements. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT[J]. 2019, 第 3 作者68(11): 4285-4299, http://ir.ia.ac.cn/handle/173211/23652.
[45] Sun, Jinlin, Pu, Zhiqiang, Yi, Jianqiang. Conditional disturbance negation based active disturbance rejection control for hypersonic vehicles. CONTROL ENGINEERING PRACTICE[J]. 2019, 第 2 作者  通讯作者  84: 159-171, http://dx.doi.org/10.1016/j.conengprac.2018.11.016.
[46] Yi Jianqiang, Xiong Tianyi, Sui Zezhi, Pu Zhiqiang. Adaptive Neural Network Time-varying Formation Tracking Control for Multi-agent Systems via Minimal Learning Parameter Approach. 2019, 第 4 作者http://ir.ia.ac.cn/handle/173211/23662.
[47] Wu, Shiguang, Sui, Zezhi, Yi, Jianqiang, Pu, Zhiqiang, IEEE, Fu, M, Sun, J. A hybrid formation control design for multi-robot system with obstacle avoidance. PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC). 2019, 第 4 作者5829-5834, 
[48] Liu, Yifan, Sun, Jinlin, Pu, Zhiqiang, Yi, Jianqiang, Pu, Shiliang. Robust fuzzy tracking control for flexible air-breathing hypersonic vehicles with measurement noises. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL[J]. 2019, 第 3 作者41(13): 3818-3835, http://dx.doi.org/10.1177/0142331219837590.
[49] Sui, Zezhi, Pu, Zhiqiang, Yi, Jianqiang, Tan, Xiangmin, IEEE. Path Planning of Multiagent Constrained Formation through Deep Reinforcement Learning. 2018 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN). 2018, 第 2 作者
[50] Liu, Yifan, Yi, Jianqiang, Yuan, Ruyi, Pu, Zhiqiang, IEEE. Adaptive Type-2 Fuzzy Control for Flexible Air-breathing Hypersonic Vehicles with Measurement Noises. 2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC). 2018, 第 11 作者1485-1490, 
[51] Yi Jianqiang, Pu Zhiqiang, Xiong Tianyi. Neural Network based Distributed Adaptive Time-varying Formation Control for Multi-UAV Systems with Varying Time Delays. 2018, 第 2 作者http://ir.ia.ac.cn/handle/173211/23659.
[52] Sun, Jinlin, Yi, Jianqiang, Tan, Xiangmin, Pu, Zhiqiang, IEEE. Robust chattering-free control for flexible air-breathing hypersonic vehicles in the presence of disturbances and measurement noises. 2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC). 2018, 第 4 作者2264-2269, http://dx.doi.org/10.23919/ACC.2018.8430966.
[53] Xiong, Tianyi, Pu, Zhiqiang, Yi, Jianqiang, IEEE. Neural Network based Distributed Adaptive Time-varying Formation Control for Multi-UAV Systems with Varying Time Delays. 2018 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN). 2018, 第 2 作者
[54] Jianqiang Yi. Observer-based Robust Adaptive Type-2 Fuzzy Tracking Control of Flexible Air-breathing Hypersonic Vehicles. IET Control Theory and Applications. 2018, 
[55] Liu, Yifan, Pu, Zhiqiang, Yi, Jianqiang. Observer-based robust adaptive T2 fuzzy tracking control for flexible air-breathing hypersonic vehicles. IET CONTROL THEORY AND APPLICATIONS[J]. 2018, 第 2 作者  通讯作者  12(8): 1036-1045, https://www.webofscience.com/wos/woscc/full-record/WOS:000431111000002.
[56] Xiong, Tianyi, Pu, Zhiqiang, Yi, Jianqiang, Tao, Xinlong, Reveliotis, S, Cappelleri, D, Dimarogonas, DV, Dotoli, M, Fanti, MP, Li, J, Lucena, V, Seatu, C, Xie, X, Zhu, K. Consensus Based Formation Control for Multi-UAV Systems with Time-varying Delays and Jointly Connected Topologies. 2018IEEE14THINTERNATIONALCONFERENCEONAUTOMATIONSCIENCEANDENGINEERINGCASE. 2018, 第 2 作者292-297, 
[57] Liu Yifan, Yi Jianqiang, Pu Zhiqiang, IEEE. Desired Compensation Based Adaptive Fuzzy Control for Hypersonic Vehicle with Measurement Noises. 2018 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE). 2018, 第 3 作者
[58] Chang, Yafei, Jiang, Tiantian, Pu, Zhiqiang. Adaptive control of hypersonic vehicles based on characteristic models with fuzzy neural network estimators. AEROSPACE SCIENCE AND TECHNOLOGY[J]. 2017, 第 3 作者68: 475-485, http://dx.doi.org/10.1016/j.ast.2017.05.043.
[59] Sui, Zezhi, Pu, Zhiqiang, Yi, Jianqiang, IEEE. Optimal UAVs formation transformation strategy based on task assignment and Particle Swarm Optimization. 2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA). 2017, 第 2 作者1804-1809, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000426271700314.
[60] Jianqiang Yi, Yifan Liu, Zhiqiang Pu. Robust fuzzy tracking control for uncertain flexible air-breathing hypersonic vehicles. ICIC EXPRESS LETTERS[J]. 2017, 第 3 作者11(3): 689-696, http://ir.ia.ac.cn/handle/173211/21123.
[61] Gao Junlong, Yi Jianqiang, Pu Zhiqiang, Li Chengdong. Interval Type-2 TSK Nominal-fuzzy-model-based Sliding Mode Controller Design for Flexible Airbreathing Hypersonic Vehicles. 2017, 第 3 作者http://ir.ia.ac.cn/handle/173211/14531.
[62] Tianyi Xiong, Zhiqiang Pu, Jianqiang Yi. Time-varying formation finite-time tracking control for multi-UAV systems under jointly connected topologies. 智能计算与控制论国际期刊(英文)[J]. 2017, 第 2 作者10(4): 478-490, http://lib.cqvip.com/Qikan/Article/Detail?id=7107560709.
[63] Gao Junlong, Yi Jianqiang, Pu Zhiqiang, Li Chengdong, IEEE. Interval Type-2 TSK Nominal-fuzzy-model-based Sliding Mode Controller Design for Flexible Air-breathing Hypersonic Vehicles. 2017 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE). 2017, 第 3 作者
[64] Pu, Zhiqiang, Tan, Xiangmin, Yuan, Ruyi, Yi, Jianqiang, ASME. A NOVEL TIME-VARYING SPECTRUM BASED APPROACH TO ACTIVE DISTURBANCE REJECTION CONTROL. PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2017, VOL 9. 2017, 第 1 作者
[65] Xiong Tianyi, Yi Jianqiang, Pu Zhiqiang. Time-varying Formation Tracking Control for Multi-UAV Systems with Nonsingular Fast Terminal Sliding Mode. 2017, 第 3 作者http://ir.ia.ac.cn/handle/173211/23658.
[66] Zhiqiang Pu, Yifan Liu, Jianqiang Yi. Adaptive Type-2 Fuzzy Output Feedback Control for Flexible Air-breathing Hypersonic Vehicles. PROCEEDINGS OF 2016IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS. 2016, 第 1 作者http://ir.ia.ac.cn/handle/173211/12520.
[67] Zhiqiang Pu, Du Han, Qian Hanbo, Yi Jianqiang, Pu Zhiqiang. Advanced Quadrotor Takeoff Control Based on Incremental Nonlinear Dynamic Inversion and Integral Extended State Observer. PROCEEDINGS OF 2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE. 2016, 第 1 作者1881 - 1886, http://ir.ia.ac.cn/handle/173211/14483.
[68] Zhiqiang Pu, Han Du, Jianqiang Yi. Integrated Cooperative Control Scheme for Multiple Quadrotors Based on Improved Adaptive Disturbance Rejection Control. PROCEEDINGS OF 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS. 2016, 第 1 作者http://ir.ia.ac.cn/handle/173211/12521.
[69] Jianqiang Yi, Jianhong Zhang, Zhiqiang Pu, Ruyi Yuan. Time-varying Spectrum Based Active Disturbance Rejection Control for Hypersonic Reentry Vehicle. PROCEEDINGS OF 2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION. 2016, 第 3 作者1507-1512, http://ir.ia.ac.cn/handle/173211/12365.
[70] Pu Zhiqiang, Yuan Ruyi, Tan Xiangmin, Yi Jianqiang. Design and analysis of time-varying extended state observer. PROCEEDINGS OF THE 34TH CHINESE CONTROL CONFERENCE, CCC 2015. 2015, 第 1 作者http://ir.ia.ac.cn/handle/173211/10802.
[71] Pu, Zhiqiang, Yuan, Ruyi, Yi, Jianqiang, Tan, Xiangmin. A Class of Adaptive Extended State Observers for Nonlinear Disturbed Systems. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS[J]. 2015, 第 1 作者62(9): 5858-5869, http://ir.ia.ac.cn/handle/173211/8911.
[72] Pu Zhiqiang, Yuan Ruyi, Tan Xiangmin, Yi Jianqiang, Zhao, Q, Liu, S. Design and Analysis of Time-varying Extended State Observer. 2015 34TH CHINESE CONTROL CONFERENCE (CCC). 2015, 第 1 作者753-758, 
[73] Pu, Zhiqiang, Yuan, Ruyi, Tan, Xiangmin, Yi, Jianqiang. Active robust control of uncertainty and flexibility suppression for air-breathing hypersonic vehicles. AEROSPACE SCIENCE AND TECHNOLOGY[J]. 2015, 第 1 作者  通讯作者  42: 429-441, https://www.webofscience.com/wos/woscc/full-record/WOS:000352332600044.
[74] Zhiqiang Pu, Ruyi Yuan, Xiangmin Tan, Jianqiang Yi. An Integrated Approach to Hypersonic Entry Attitude Control. INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING[J]. 2014, 第 1 作者11(1): 39-50, 
[75] Pu Zhiqiang, Yuan Ruyi, Tan Xiangmin, Yi Jianqiang. Active robust control scheme for uncertainty and flexibility suppression of air-breathing hypersonic vehicles. PROCEEDINGS OF THE 33RD CHINESE CONTROL CONFERENCE, CCC 2014, P 2265-2270. 2014, 第 1 作者http://ir.ia.ac.cn/handle/173211/10807.
[76] Pu Zhiqiang. 高超声速飞行器不确定性控制研究综述. 中国自动化学会通讯. 2014, 第 1 作者
[77] Pu, Zhiqiang, Tan, Xiangmin, Fan, Guoliang, Yi, Jianqiang. Uncertainty analysis and robust trajectory linearization control of a flexible air-breathing hypersonic vehicle. ACTA ASTRONAUTICA[J]. 2014, 第 1 作者101: 16-32, http://dx.doi.org/10.1016/j.actaastro.2014.01.025.
[78] Pu Zhiqiang. Robust trajectory linearization control of hypersonic entry flight using extended state observer and time-varying bandwidth. Proceedings of the 3rd IFAC International Conference on Intelligent Control and Automation Science (ICONS 2013). 2013, 第 1 作者
[79] Tan Xiangmin, Yi Jianqiang, Pu Zhiqiang, Fan Guoliang. Robust Trajectory Linearization Control of a Flexible Hypersonic Vehicle in the Presence of Uncertainties. IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION ( ICMA). 2013, 第 3 作者365-370, http://ir.ia.ac.cn/handle/173211/5567.
[80] Pu Zhiqiang. Design of entry trajectory tracking law for suborbital hypersonic vehicle via inversion control. Proceedings of the 10th World Congress on Intelligent Control and Automation (WCICA 2012). 2012, 第 1 作者
[81] Jianqiang Yi, Zhiqiang Pu, Xiangmin Tan, Guoliang Fan. Design of Entry Trajectory Tracking Law for a Hypersonic Vehicle via Inversion Control. PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION. 2012, 第 2 作者http://ir.ia.ac.cn/handle/173211/12359.
[82] Yi Jianqiang, Pu Zhiqiang, Tan Xiangmin, Fan Guoliang. Advanced inversion control for a hypersonic vehicle based on PSO and arranged transient process. IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION ( ICMA). 2011, 第 2 作者359-364, http://ir.ia.ac.cn/handle/173211/5516.

   

（ 1 ） 中科院青促会专项, 负责人, 中国科学院计划, 2017-01--2020-12
（ 2 ） 多无人机协同**系统研究, 负责人, 中国科学院计划, 2016-06--2018-05
（ 3 ） 无人机自主平台关键技术研究, 负责人, 境内委托项目, 2016-01--2017-07
（ 4 ） 复杂不确定性系统的时变特征谱扩张观测器设计、分析及应用, 负责人, 国家任务, 2017-01--2019-12
（ 5 ） 多机自主协同策略开发, 负责人, 境内委托项目, 2015-08--2016-05
（ 6 ） 多机自主协同它机飞行演示验证, 负责人, 境内委托项目, 2015-08--2016-05
（ 7 ） 飞行机器人鲁棒自适应控制方法研究, 参与, 国家任务, 2015-01--2020-12
（ 8 ） 基于动态开放环境的复杂任务规划和博弈推理建模研究, 负责人, 国家任务, 2018-12--2020-12
（ 9 ） 侦察无人机自主目标识别与任务规划关键技术研究, 负责人, 中国科学院计划, 2019-12--2020-12
（ 10 ） 地面小车集群路径规划演示软件开发, 负责人, 境内委托项目, 2020-02--2020-12
（ 11 ） xx干扰机理与控制方法研究, 参与, 国家任务, 2019-12--2023-12
（ 12 ） 基于博弈对抗的足球推演系统, 负责人, 国家任务, 2020-07--2023-06
（ 13 ） 知识和数据协同驱动的无人集群系统智能汇聚方法研究, 负责人, 国家任务, 2021-01--2024-12
（ 14 ） 知识数据混合驱动学习, 负责人, 中国科学院计划, 2020-07--2025-06
（ 15 ） 多智能体任务协同算法研究及验证, 负责人, 境内委托项目, 2021-02--2021-12
（ 16 ） 蜂群XX研究, 负责人, 国家任务, 2020-12--2021-12
（ 17 ） 复杂场景自主认知与集群决策关键技术研究, 负责人, 中国科学院计划, 2021-01--2023-12
（ 18 ） 北京市科技新星计划项目, 负责人, 地方任务, 2022-10--2025-10
（ 19 ） 群体决策与控制，国家自然科学基金优秀青年基金项目, 负责人, 国家任务, 2024-01--2026-12

（1）群体智能决策关键要素研究与实践   第十一届中国指挥控制大会   2023-10-25
（2）条件干扰补偿原理及应用（Principle and Applications of Conditional Disturbance Negation）   第15届IEEE自抗扰控制研讨会   2023-08-25
（3）基于博弈对抗的足球推演系统   第40届中国国际体育用品博览会   2023-05-27
（4）Integrating knowledge-based and data-driven paradigms for collective intelligence decision making: algorithms and experiments   2021-08-16
（5）Multi-target Coverage with Connectivity Maintenance using Knowledge-incorporated Policy Framework   2021-06-02
（6）知识与数据协同驱动的群智决策研究与实践   2021第九届世界雷达博览会多智能体对抗博弈论坛   2021-04-22
（7）Adaptive type-2 fuzzy control for flexible air-breathing hypersonic vehicles with measurement noises   2018-06-27
（8）A novel time-varying spectrum based approach to active disturbance rejection control   2017-08-06
（9）Time-varying spectrum based active disturbance rejection control for hypersonic reentry vehicle   2016-08-07
（10）时变ESO的设计、分析与应用   自抗扰控制专题研讨会   2015-12-25

   

阿里巴巴达摩院

京东无人机事业部

中航工业成飞

中国电科集团

中国北方车辆研究所

北京体育大学

华体博联

已指导学生

康扬名  硕士研究生  085210-控制工程  

陶忠良  硕士研究生  081101-控制理论与控制工程  

陈敏  硕士研究生  081101-控制理论与控制工程  

现指导学生

徐一凡  硕士研究生  081101-控制理论与控制工程  

蔡奇昂  硕士研究生  081101-控制理论与控制工程  

刘天祺  硕士研究生  081101-控制理论与控制工程  

冯锦元  博士研究生  081101-控制理论与控制工程  

李俊影  硕士研究生  085410-人工智能  

王宇晗  硕士研究生  085410-人工智能  

赵思垚  硕士研究生  081101-控制理论与控制工程  

睢泽智，博士研究生，控制理论与控制工程，已毕业

王彗木，博士研究生，控制理论与控制工程，已毕业

孙金林，博士研究生，控制理论与控制工程，已毕业 

吴士广，博士研究生，控制理论与控制工程，已毕业

张天乐，博士研究生，控制理论与控制工程，已毕业 

王乐行，博士研究生，控制理论与控制工程，在读 

刘博寅，博士研究生，控制理论与控制工程，在读 

付清旭，博士研究生，控制理论与控制工程，在读

王诗杰，博士研究生，控制理论与控制工程，在读 

扈天翼，博士研究生，控制理论与控制工程，在读

马昊，博士研究生，控制理论与控制工程，在读

李东珉，博士研究生，控制理论与控制工程，在读