船舶与海洋工程系
电子邮件：qiaolei at sjtu.edu.cn
通讯地址：上海市闵行区东川路800号上海交通大学木兰船建大楼
工作经历
2024年6月-至今，上海交通大学，长聘教轨副教授，硕士、博士生导师
2020年4月-2024年6月，上海交通大学，长聘教轨助理教授，硕士、博士生导师
教育经历
2014年-2020年，上海交通大学，自动化系，获博士学位
2017年-2018年，俄亥俄州立大学（The Ohio State University），电气与计算机工程系，联合培养博士
2012年-2014年，哈尔滨工程大学，自动化系，获硕士学位
2008年-2012年，哈尔滨工程大学，自动化学院（陈赓班），获学士学位
成果简介：
海洋智能机器人与无人系统课题组负责人，主持国家自然科学基金、JKW“四季青”科学白洞揭榜项目等项目10余项。发表高水平论文50余篇，其中ESI热点和高被引论文5篇，Google Scholar引用2200余次。相关成果在麻省理工学院等作邀请报告，被《山东卫视》、《上海教育卫视》、《南通日报》等多家媒体报道。申报/授权国家发明专利12项。入选中国科协青年托举人才、上海市青年科技扬帆人才、中核集团青年科技启明星人才。入选全球前2%顶尖科学家、中国科协青年托举人才、上海市青年科技扬帆人才、中核集团青年科技启明星人才。获第七届国际自动化、控制和机器人工程会议青年科学家奖、国际权威期刊IET Control Theory & Applications 2019年最佳论文奖、IEEE USYS（国际水下系统技术大会）最佳论文奖、中国自动化学会博士学术交流会优秀海报奖、上海市自动化学会最佳博士学位论文奖和年度最佳论文奖、第六届国际自动化、控制和机器人工程会议最佳学生论文奖、2024中国国际海洋水下机器人大赛特等奖、第二十五届中国机器人及人工智能大赛全国一等奖、第十二、十三届全国海洋航行器设计与制作大赛全国一等奖等学术奖励14项。研究牵引教学，获2024中国国际海洋水下机器人大赛“优秀指导教师奖”、上海交通大学2024年教学成果奖一等奖。担任《机器人》等期刊青年编委。
个人与实验室相关链接：
Google Scholar:https://scholar.google.com/citations?user=m8LhY94AAAAJ&hl=zh-CN
Github:https://sjtu-mirus.github.io/MIRUS.github.io/research/
Bilibili:https://space.bilibili.com/3546638633142975?spm_id_from=333.1007.0.0
学生培养：
1. 培养学生获第九届上海交通大学研究生“学术之星”提名奖（指导的第一个博士生）；
2. 培养学生获2024年中国科协青年人才托举工程博士生专项（指导的第二个博士生）；
3. 培养学生获得上海交通大学优秀毕业生（指导的第一届硕士生）；
4. 培养学生获得博士、硕士生国家奖学金等各类奖学金多项；
5. 指导学生在国际/国内竞赛中多次斩获特等奖、一等奖等成绩；
6. 指导的首届硕士毕业生就业去向：华为、长安汽车等知名企业。
招生信息：每年预计招收硕士研究生2-3名与博士研究生1-2名，长期欢迎想来团队做博士后的青年才俊（可与团队长共同指导）。可供选择的研究方向（不仅限于）如下：
1.水下机器人“导—控”一体化设计理论与方法
-合作单位：美国弗吉尼亚大学、英国国家海洋中心、上海交大自动化与感知学院
2.同构/异构海洋机器人协同控制与攻防博弈
-合作单位：德国图宾根大学、新加坡南洋理工大学
3.复杂场景下水下机器人具身智能与数字孪生
-合作单位：加拿大卡尔顿大学、香港科技大学、同济大学
4.水下仿生机器人开发、建模、感知与控制
-合作单位：加拿大蒙特利尔大学、上海交大自动化与感知学院
实验室具备科研所需的优越软硬件条件（包括AUV、ROV、仿生机器鱼、无人机等机器人平台）、自由愉悦的科研环境、广泛的国际合作渠道、以及丰富的文体活动（我本人爱打球、健身、跑步）。支持学生参加国内外高水平学术会议，指导学生发表高水平论文和参加国内外高水平比赛，提供与行业内和知名企业的科研合作，给予学业和就业指导与机会。实验室将按月向学生发放基本助研酬金，并视学生科研成果产出情况逐步上调助研酬金或给予年终一次性科研奖励。如学生打算出国深造，将尽可能为学生提供推荐和帮助。
实验室注重理论与实际相结合，但也支持学生按个人兴趣发展，如从事单独的理论或工程技术研究。将根据学生对自己未来的发展规划有针对性地设计培养方案。本课题组的研究内容希望学生学过自动控制原理/线性控制理论/机器学习等相关基础课程，有较强的Python/C语言编程能力/工程实践能力（尤其是硬件与嵌入式开发能力）。尤为欢迎有相关研究积累的学生，如发表过相关论文或参加过实践类比赛的学生。希望学生热爱科研、有理想、肯努力。我会在学生实现理想的道路上竭尽所能提供帮助。
如感兴趣，欢迎联系。让我们共同努力，一起推进海洋机器人智能化水平的发展！！！
1. 海洋机器人先进导航与控制方法
2. 海洋机器人具身智能与数字孪生
3. 同构/异构海洋机器人协同与博弈
4. 新概念与仿生海洋机器人
1.《机器人》青年编委
2.《应用科技》青年编委
3.《海洋工程装备与技术》青年编委
4. 中国造船工程学会青年工作委员会委员
5. 中国自动化学会机器人专委会委员
6. 上海市自动化学会理事会理事
7. IEEE第八届国际水下系统与技术会议水下机器人控制分会主席
8. 第40届中国自动化学会青年学术年会专题主席
9. 计算机视觉顶会ECCV中自动驾驶视觉专题研讨会程序委员会委员
10. 计算机视觉顶会ICCV中自动驾驶视觉专题研讨会程序委员会委员
11. 国际自动化、控制和机器人工程会议技术委员会委员
12. 国际人工智能、自动化与控制技术会议技术委员会委员
13. 第三届控制理论与应用国际会议（ICoCTA）编委会成员
14. 船海及控制领域多个SCI期刊的审稿人，包括：
IEEE Transactions on Industrial Informatics
IEEE Transactions on Industrial Electronics
Automatica
IEEE/CAA Automatica Sinica
IEEE Transactions on Cybernetics
IEEE Journal of Oceanic Engineering
IEEE Robotics and Automation Letters
IEEE Transactions on Control Systems Technology
IEEE/ASME Transactions on Mechatronics
IEEE Transactions on Fuzzy Systems
IEEE Transactions on Automation Science and Engineering
IEEE Transactions on Systems, Man, and Cybernetics: Systems
IEEE Transactions on Circuits and Systems I: Regular Papers
IEEE Transactions on Circuits and Systems II: Express Briefs
IEEE Transactions on Vehicular Technology
IEEE Transactions on Transportation Electrification
IEEE Transactions on Intelligent Vehicles
IEEE Transactions on Aerospace and Electronic Systems
IEEE Transactions on Intelligent Transportation Systems
IEEE Internet of Things Journal
IEEE Transactions on Mobile Computing
IEEE Journal of Emerging and Selected Topics in Power Electronics
IEEE Transactions on Reliability
IEEE Transactions on Network Science and Engineering
IEEE Transactions on Industrial Cyber-Physical Systems
Ocean Engineering
Applied Ocean Research
The Journal of Navigation
Ships and Offshore Structures
等
1.中国科协青年人才托举工程项目，主持；
2.国家自然科学基金青年项目，主持；
3.中核集团领创科研项目，主持；
4.中核集团青年英才启明星项目，主持；
5.上海市“科技创新行动计划”扬帆计划项目，主持；
6. “交大2030”计划首批立项项目，主持；
7.上海交通大学“深蓝计划”项目，主持；
8.海洋工程国家重点实验室开放基金项目，主持；
9.上海交通大学“双一流”建设项目人才科研启动/配套经费，主持。
目前已在国际期刊和会议上发表（含在线）论文35篇，5篇论文入选ESI前1%高被引论文、1篇论文入选ESI前0.1%热点论文，以第一作者身份获国际自动控制权威期刊IET CTA最佳论文奖、上海市自动化学会优秀博士学位论文奖、上海市自动化学会最佳论文奖，并获得第六届自动化、控制和机器人工程国际会议(CACRE)最佳学生论文奖。目前Google Scholar引用1800余次。研究成果被山东卫视、上海教育卫视等媒体报道，并在2023中国国际海事会展中参展。曾受邀在MIT、华中科大、中山大学、哈工程等高校做学术报告。
Google Scholar:https://scholar.google.com/citations?user=m8LhY94AAAAJ&hl=zh-CN
代表性期刊论文(*为通信作者):
[1] Lei Qiao and Weidong Zhang, "Trajectory tracking control of AUVs via adaptive fast nonsingular integral terminal sliding mode control," IEEE Transactions on Industrial Informatics, vol. 16, no. 2, pp. 1248-1258, 2020. (上海市自动化学会2020年度最佳论文奖，ESI热点论文，ESI高被引论文)
[2] Lei Qiao and Weidong Zhang, "Adaptive non-singular integral terminal sliding mode tracking control for autonomous underwater vehicles," IET Control Theory and Applications, vol. 11, iss. 8, pp. 1293-1306, 2017. (2019 IET Control Theory & Applications Premium Award-最佳论文奖，ESI高被引论文)
[3] Lei Qiao and Weidong Zhang, "Adaptive second-order fast nonsingular terminal sliding mode tracking control for fully actuated autonomous underwater vehicles," IEEE Journal of Oceanic Engineering, vol. 44, no. 2, pp. 363-385, 2019. (ESI高被引论文)
[4] Lei Qiao and Weidong Zhang, "Double-loop integral terminal sliding mode tracking control for UUVs with adaptive dynamic compensation of uncertainties and disturbances," IEEE Journal of Oceanic Engineering, vol. 44, no. 1, pp. 29-53, 2019. (ESI高被引论文)
[5] Lei Qiao, Min Zhao, Chao Wu, Tong Ge, Rui Fan, and Weidong Zhang, "Adaptive PID control of robotic manipulators without equality/inequality constraints on control gains," International Journal of Robust and Nonlinear Control, 2021.
[6] Lei Qiao, Shitao Ruan, Guoqing Zhang, and Weidong Zhang, "Robust H2 optimal depth control of an autonomous underwater vehicle with output disturbances and time delay," Ocean Engineering, vol. 165, pp. 399-409, 2018.
[7] Lei Qiao, Bowen Yi, Defeng Wu, and Weidong Zhang, "Design of three exponentially convergent robust controllers for the trajectory tracking of autonomous underwater vehicles," Ocean Engineering, vol. 134, pp. 157-172, 2017.
[8] Yu Lu, Rong Su, Chengxi Zhang, and Lei Qiao*, "Event-triggered adaptive formation keeping and interception scheme for autonomous surface vehicles under malicious attacks," IEEE Transactions on Industrial Informatics, Accepted, 2021.
[9] Xiaotong Cheng, Yu Lu, Lei Qiao*, Zhihuan Hu, and Weidong Zhang*, "Multi-task cooperative formation control of autonomous surface vessels with interception of moving objects," IEEE Journal of Oceanic Engineering, Accepted, 2021.
[10] Yu Lu, Xinli Xu, Lei Qiao*, and Weidong Zhang*, "Robust adaptive formation tracking of autonomous surface vehicles with guaranteed performance and actuator faults," Ocean Engineering, vol. 237, pp. 109592, 2021.
[11] Jianyu Liu, Min Zhao, and Lei Qiao*, "Adaptive barrier Lyapunov function-based obstacle avoidance control for an autonomous underwater vehicle with multiple static and moving obstacles," Ocean Engineering, vol. 243, pp. 110303, 2022.
[12] Peng Wang, Ranran Liu, Xinliang Tian, Xiantao Zhang, Lei Qiao, and Yuntao Wang, "Obstacle avoidance for environmentally-driven USVs based on deep reinforcement learning in large-scale uncertain environments", Ocean Engineering, vol. 270, pp. 113670, 2023.
[13] Gang Cao, Jian Yang, Lei Qiao, Ziheng Yang, and Weidong Zhang, "Adaptive output feedback super twisting algorithm for trajectory tracking control of USVs with saturated constraints," Ocean Engineering, vol. 259, pp. 111507, 2022.
[14] Rui Fan, Hengli Wang, Peide Cai, Jin Wu, Mohammud Junaid Bocus, Lei Qiao, and Ming Liu, "Learning collision-free space detection from stereo images: Homography matrix brings better data augmentation," IEEE/ASME Transactions on Mechatronics, Online, 2021.(ESI高被引论文)
[15] Zehua Jia, Lei Qiao, and Weidong Zhang, "Adaptive tracking control of unmanned underwater vehicles with compensation for external perturbations and uncertainties using Port-Hamiltonian theory," Ocean Engineering, vol. 209, pp. 1-13, 2020.
[16] Yu Lu, Guoqing Zhang, Lei Qiao, and Weidong Zhang, "Adaptive output-feedback formation control for underactuated surface vessels," International Journal of Control, vol. 93, no. 3, pp. 400-409, 2020.
[17] Bowen Yi, Lei Qiao, and Weidong Zhang, "Two-time scale path following of underactuated marine surface vessels: design and stability analysis using singular perturbation methods," Ocean Engineering, vol. 124, pp. 287-297, 2016.
[18] Jian Xu, Man Wang, and Lei Qiao, "Dynamical sliding mode control for the trajectory tracking of underactuated unmanned underwater vehicles," Ocean Engineering, vol. 105, pp. 54-63, 2015. (Most Cited Ocean Engineering Articles since 2015, extracted from Scopus)
代表性会议论文:
[1] Lei Qiao and Weidong Zhang, "Fast trajectory tracking control of underactuated autonomous underwater vehicles," in Proceedings of the IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS), Wuhan, China, Dec. 1-3, 2018, pp. 1-6.
[2] Lei Qiao and Weidong Zhang, "Double-loop chattering-free adaptive integral sliding mode control for underwater vehicles," in Proceedings of the MTS/IEEE Oceans Conference (OCEANS), Shanghai, China, April 10-13, 2016, pp. 1-6.
[3] Qiao Lei, Zhang Lixing, and Zhang Weidong, "Robust adaptive PID control for positioning of remotely operated vehicle working in close proximity of an underwater structure," in Proceedings of the 35th Chinese Control Conference (CCC), Chengdu, China, July 27-29, 2016, pp. 5780-5785.
[4] Bin Lin, Lei Qiao, Zehua Jia et al., "Control strategies for target-attacker-defender games of USVs," in Proceedings of the International Conference on Automation, Control and Robotics Engineering (CACRE), Dalian, China, July 15-17, 2021. (Best Student Paper Award-最佳学生论文奖)
[5] Xiujun Chai, Yuanlong Li, and Lei Qiao, "Terrain-assisted navigation of long-range AUV based on intelligent particle filter", in Proceedings of the Asian Control Conference (ASCC), Jeju, Korea, July 20, 2022.
[6] Xiaotong Cheng, Yu Lu, Lei Qiao, and Weidong Zhang, "Adaptive cooperative formation control of autonomous surface vessels with interception of moving objects," in Proceedings of the Global Oceans 2020: Singapore–US Gulf Coast, Biloxi, MS, USA, October 5-30, 2020.
[7] Rui Fan, Yuan Wang, Lei Qiao, Ruiwen Yao, Peng Han, Weidong Zhang, Ioannis Pitas, and Ming Liu, "PT-ResNet: perspective transformation-based residual network for semantic road image segmentation," in Proceedings of the IEEE International Conference on Imaging Systems and Techniques (IST), Abu Dhabi, United Arab Emirates, December 9-10, 2019, pp. 1-5.
[8] Zhixin Wu, Peng Han, Ruiwen Yao, Lei Qiao, Weidong Zhang, Tielong Shen, Min Sun, Yilong Zhu, Ming Liu, and Rui Fan, "Autonomous UAV landing system based on visual navigation," in Proceedings of the IEEE International Conference on Imaging Systems and Techniques (IST), Abu Dhabi, United Arab Emirates, December 9-10, 2019, pp. 1-6.
[9] Zhang Lixing, Qiao Lei, Chen Jianliang, and Zhang Weidong, "Neural-network-based reinforcement learning control for path following of underactuated ships," in Proceedings of the 35th Chinese Control Conference, Chengdu, China, July 27-29, 2016, pp. 5786-5791.
[10] Xu Jian, Wang Man, and Qiao Lei, "Control of fully actuated UUV using a linear interpolation approach," in Proceedings of the 33rd Chinese Control Conference, Nanjing, China, July 28-30, 2014, pp. 2058-2063.
本科生课程：《自动控制原理》、《智能船舶基础II》
申报国家发明专利12项，其中授权6项。
2023年斯坦福大学2023年度“全球前2%顶尖科学家榜单”
2022年第七届自动化、控制和机器人工程国际会议（CACRE）-青年科学家奖
2019年IET Control Theory & Applications Premium Award（最佳论文奖）
2022年 第七届中国科协青年人才托举工程
2021年 上海市青年科技英才扬帆计划
2021年 中核集团青年英才启明星计划
