张立宪科研成果

基本信息 教学与科研 任职与荣誉 团队情况 English 新建主栏目 基本信息 名称 张立宪，吉林德惠人。哈尔滨工业大学航天学院教授、博士生导师。在智能/先进控制、特种机器人研究方向上主持国家、省部级科研项目30余项，发表SCI论文140余篇，其中在控制领域权威期刊Automatica、IEEE TAC上发表论文40篇 (长文10篇) 。Google学术引用1.7万余次，SCI他引1万余次。获国家自然科学二等奖、黑龙江省自然科学奖一等奖、黑龙江省青年科技奖。现为IEEE L-CSS高级编委、国家某部委主题专家组成员、IEEE系统人控制论协会哈尔滨分部主席，曾任IEEE TAC、IEEE TCyb等期刊编委。国家杰出青年科学基金、国家自然科学基金优秀青年科学基金、黑龙江省杰出青年科学基金获得者，入选国家高层次人才计划，2014-2021年连续8年入选全球高被引学者。2016年当选IET Fellow，2017年当选IEEE Fellow。 工作经历 名称 2018.07—至今 哈尔滨工业大学航天学院 副院长 2018.05—至今 哈尔滨工业大学人工智能研究院 副院长 2016.07—2017.07 哈尔滨工业大学科学与工业技术研究院 院长助理 2015.05—2018.07 哈尔滨工业大学智能控制与系统研究所 副所长 2012.12—至今 哈尔滨工业大学航天学院 教授 2011.04—至今 哈尔滨工业大学航天学院 博士生导师 2009.01—2012.12 哈尔滨工业大学航天学院 副教授 教育及访学经历 名称 2015.03—2015.04 香港大学机械工程系 访问学者 2012.02—2013.03 美国麻省理工学院(MIT)过程系统工程实验室 访问教授 2011.08—2011.09 挪威阿格德大学机械工程系 访问教授 2009.07—2009.10 香港大学机械工程系 中英信托合作基金访问学者 2007.01—2008.09 加拿大蒙特利尔大学理工学院机械工程系 博士后 2003.09—2006.08 哈尔滨工业大学航天学院控制理论与控制工程专业 博士 2001.09—2003.07 哈尔滨工业大学航天学院控制理论与控制工程专业 硕士 1996.09—2000.07 长春工业大学自动化专业 本科 研究方向 名称 特种移动/操作机器人 机器人感知、决策与控制技术 MPC/RL/多模态切换控制理论 研究成果 名称 一、跨域机器人设计与控制 ● 旋翼驱动类空地跨域● 飞行/滚动/过渡模态● U-NMPC运动规划● 多模态平滑切换控制 T. Wu, Y. Zhu, L. Zhang, et al. Motion Planning for HyTAQs: A Topology-guided U-NMPC Approach. IEEE IROS 2022.Y. Zhu, J. Yang, L. Zhang, et al. SytaB: a Class of Smooth-Transition Hybrid Terrestrial/Aerial Bicopters. IEEE RA-L, vol.7, no.4, pp. 9199-9206.R. Zhang, Y. Wu, L. Zhang, et al. Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles. IEEE RA-L, 2022, 7:(2): 3008-3015. 二、特种移动操作平台 ● 特种球型移动机器人● 空地两用-机械臂复合● 跨域稳定精准操作● 360度全向移动能力 J. Yang, Y. Zhu, L. Zhang, et al. Chat-PM: A Class of Composite Hybrid Aerial/Terrestrial Precise Manipulator. IEEE RA-L. (under submission) 三、地面无人平台感知决策与控制 ● 全封闭三维感知● 阻力预测挖掘控制● 冰雪路面自主驾驶● 混合现实遥操作 徐工集团课题 "无人平台操控技术原理样机设计与实现"、太原重工课题 "无人操作大型矿用机械正铲式挖掘机研制"车辆企业横向课题 "多源信息融合三维场景重建技术开发"、集团横向课题 "无人车环境感知与避障系统研制" 四、空中无人平台感知决策与控制 ● 质心强变化稳定控制● 智能投放及多模态切换控制● 5.5cm级高性能微型无人机● 端边结合无人机自主控制 该研究方向获国家部委重点/创新等多项项目支持 五、模型预测控制与强化学习 ● 切换MPC求解可行性/稳定性/鲁棒性● 基于Koopman算子的软体机器人MPC控制● 具有稳定性/安全性/鲁棒性保证的强化学习● 平滑及快速稳定强化学习决策与控制 L. Zhang, S. Zhuang, R. Braatz. Switched MPC: Feasibility, Stability, Robustness. Automatica, 2016, 67: 8-21. M. Han, Y. Tian, L. Zhang, et al. Reinforcement learning control of constrained dynamic systems with uniformly ultimate boundedness stability guarantee. Automatica, 2021, 129: 109689.M. Han, K. Wong, J. Euler-Rolle, L. Zhang, et al. Robust Learning-based Control for Uncertain Nonlinear Systems with Validation on a Soft Robotic Manipulator. The International Journal of Robotics Research. (under review) 六、多模态切换系统控制 ● 泛随机切换系统控制● 超平滑防抖切换控制● 切换系统U-Tube计算● 异步切换辨识及控制 研究成果发表在控制领域权威期刊IEEE TAC(17篇)、Automatica(23篇)上 近5年代表性论文 名称 [1] J. Yang, Y. Zhu, L. Zhang, et al. SytaB: A Class of Smooth-Transition Hybrid Terrestrial/Aerial Bicopters. IEEE Robotics and Automation Letters, 2022, 7(4): 9199-9206. [2] R. Zhang, Y. Wu, L. Zhang, et al. Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles. IEEE Robotics and Automation Letters, 2022, 7:(2): 3008-3015. [3] L. Zhang, K. Xu, J. Yang, et al. Transition-Dependent Bumpless Transfer Control Synthesis of Switched Linear Systems. IEEE Transactions on Automatic Control, 2022, doi:10.1109/TAC.2022.3152721. [4] L. Zhang, H. Wang, Y. Zhu, et al. Tube-Based Attitude Control of Rigid-Bodies with Magnitude-Bounded Disturbances. Automatica, 2021, 133: 109845. [5] M. Han, L. Zhang, J. Wang, et al. Actor-Critic Reinforcement Learning for Control with Stability Guarantee. IEEE Robotics and Automation Letters, 2020, 5(4): 6217-6224. [6] L. Zhang, S. Zhuang, R. D. Braatz. Switched Model Predictive Control of Switched Linear Systems: Feasibility, Stability and Robustness. Automatica, 2016, 67: 8-21. [7] L. Zhang, Y. Leng, P. Colaneri. Stability and Stabilization of Discrete-Time Semi-MJLSs via Semi-Markov Kernel Approach. IEEE Transactions on Automatic Control, 2016, 61(2): 503-508. [8] L. Zhang, H. Gao, O. Kaynak. Network-Induced Constraints in Networked Control Systems – A Survey. IEEE Transactions on Industrial Informatics, 2013, 9(1): 403-416. [9] L. Zhang, P. Shi. Stability, l2-Gain and Asynchronous H∞ Control of Discrete-Time Switched Systems with Average Dwell Time. IEEE Transactions on Automatic Control, 2009, 54(9): 2193-2200. [10] L. Zhang, E. Boukas. Stability and Stabilization of Markovian Jump Linear Systems with Partly Unknown Transition Probabilities. Automatica, 2009, 45(2): 463-468. 招生信息 名称 硕士研究生： 招生来源：控制、宇航、计算机、机械、电子信息及其他相近学科； 攻读学科：控制科学与工程、航空宇航科学与技术； 研究方向：地面/空中无人平台、跨域/特种机器人。 博士研究生： 招生来源：控制、宇航、计算机、机械、电子信息及其他相近学科； 攻读学科：控制科学与工程、航空宇航科学与技术； 研究方向：MPC/RL/多模态系统控制理论，特种机器人平台设计、智能感知、自主决策与优化控制。 博士后： 哈尔滨工业大学控制科学与工程博士后流动站，合作方向为机器人学、航空宇航、自动控制等。 课程教学 名称 哈尔滨工业大学“与国际高水平学者共建研究生课程”《现代采样控制》负责人及主讲教师 (2011-) 哈尔滨工业大学本科生“创新研修课程”《切换系统控制》主讲教师 (2013-) 哈尔滨工业大学素质选修课《多旋翼飞行器入门基础》主讲教师 (2017-) (大疆创新科技有限公司产学合作课程项目) 学术任职 名称 学术期刊任职： IEEE Control Systems Letters (Senior Editor, 2022-) IEEE Transactions on Automatic Control (Associate Editor, 2015-2020) IEEE Transactions on Cybernetics (Associate Editor, 2012-2021) IEEE Transactions on Industrial Informatics (Guest Editor for one Special Section, 2011) Optimal Control Applications and Methods (Subject Editor, 2015-) Neurocomputing (Associate Editor, 2011-2016) Journal of the Franklin Institute (Associate Editor, 2011-2016) Nonlinear Analysis: Hybrid Systems (Associate Editor, 2011-2014) 《中国科学：技术科学》青年编委（2018-） 《控制与决策》编委 (2017-2020) 《航天控制》编委 (2021-) 学术会议任职： Member of the International Program Committee for the 60th IEEE Conference on Decision and Control, IEEE CDC 2021 Member of the International Program Committee for the 59th IEEE Conference on Decision and Control, IEEE CDC 2020 Program Chair of the International Program Committee the 7th International Conference on Information Science and Technology, ICIST 2017 Program Chair of the International Program Committee for the 6th International Conference on Intelligent Control and Information Processing, ICICIP 2015 Co-chair of the International Program Committee for the 3rd International Symposium on Systems and Control in Aerospace and Astronautics, ISSCAA 2010 Chair of Invited Session of the 7th International Conference on Intelligent Control and Information Processing, ICICIP 2016 Chair of Invited Session of the IEEE 23rd IEEE International Symposium on Industrial Electronics Chair of Session of "Stochastic Hybrid Systems" in the 19th IFAC World Congress Chair of Session "Identification and Control" in the 2015 IEEE International Symposium on Industrial Electronics Chair of Session "Switched Systems I" in the 52nd IEEE Control and Decision Conference Chair of Session "Control System and Applications" in the 2013 IEEE International Symposium on Industrial Electronics Chair of Session "Neural Networks and Fuzzy Systems" in the 2013 American Control Conference Co-chair of the 7th Asia Control Conference Session "Stability and Control of Hybrid and Singular Systems", ACC 2009 主要专家/评审组成员： 国家部委专家组成员 国家留学基金委专家评审组成员 国家重点研发计划项目会评专家 国家部委基础科研计划会评专家 黑龙江省首届专利奖函评及会评评审组成员 荣誉奖励 名称 2017 IEEE Fellow (for contributions to nondeterministic switched systems) 2016 IET Fellow 2014-2021 Thomson Clarivate Highly Cited Researcher 2014 《Automatica》2010-2013年高引用论文奖 (4篇) 2009 中英信托合作基金访问学者荣誉 2008-2011 《IEEE自动控制汇刊》杰出审稿人 2022 国家杰出青年科学基金获得者 2019 国家高层次人才计划 2017 黑龙江省五四青年奖章 2015 国家高层次青年人才计划 2015 黑龙江省杰出青年科学基金获得者 2015 黑龙江省青年科技奖 2014-2021 爱思唯尔中国高被引学者 2014 国家自然科学二等奖 (排名第3) 2014 中国百篇最具影响力国际学术论文 2013 国家自然科学基金优秀青年基金获得者 2012 黑龙江省自然科学一等奖 (排名第1) 2011 哈尔滨工业大学十佳优秀共产党员 2010 第二届全国Scopus青年科学之星奖 2010 教育部新世纪优秀人才支持计划 2007 高技术发展建设工程突出贡献奖集体奖 团队概述 名称 所负责团队入选哈工大首批青年科学家工作室支持计划，团队现有教授3人，博士生导师4人，副教授及讲师3人。IEEE会士2人，汤森路透高被引学者3人，入选国家高层次人才及青年人才3人。团队在智能/先进控制、特种机器人等方向上承担了国家杰青/优青/面上项目、黑龙江省杰青/重点项目、国家部委重点项目、创新项目等30余项国家及省部级科研课题。研制了多类跨域特种机器人、空中/地面移动、操作平台等，突破了未知复杂环境下多源传感器融合的智能感知、决策与控制，通过移动平台作为载体实现场景扫描与重建、目标识别与追踪，基于交叉现实的移动平台遥操作及人机接口等关键技术。 教师成员 名称 张立宪 教授/博导 在智能/先进控制、特种机器人研究方向上主持国家、省部级科研项目30余项，发表SCI论文140余篇，其中在控制领域权威期刊Automatica、IEEE TAC，导航、制导与控制领域权威期刊 AIAA JGNC以及机器人领域权威期刊IEEE RA-L上发表论文40余篇。Google学术引用1.7万余次，SCI他引1万余次。获国家自然科学二等奖、黑龙江省自然科学奖一等奖、黑龙江省青年科技奖等。现为IEEE L-CSS高级编委、国家部委主题专家组成员、IEEE系统人控制论协会哈尔滨分部主席，曾任IEEE TAC、IEEE TCyb等期刊编委。国家杰出青年科学基金、优秀青年科学基金、黑龙江省杰出青年科学基金获得者，入选国家高层次人才计划，2014-2021年连续8年入选全球高被引学者。2016年当选IET Fellow，2017年当选IEEE Fellow。 施阳 教授/兼职博导 加拿大维多利亚大学教授，加拿大工程院院士，IEEE Fellow。现任IEEE Trans. Industrial Electronics共同主编、 IEEE Industrial Electronics Society副主席，担任IEEE Trans. Automatic Control、Automatica、IEEE Trans. Cybernetics、IEEE Trans. Fuzzy Systems、IEEE/ASME Trans. Mechatronics等国际期刊编委。研究方向包括网络和分布式系统、模型预测控制(MPC)、信息物理系统(CPS)、机器人、机电一体化、自主系统导航与控制、能源系统应用等。 刘明 教授/博导 2018年入选Clarivate Analytics全球高被引学者，2017年入选国家高层次青年人才，2013 年入选教育部新世纪优秀人才支持计划，2012年获黑龙江省自然科学奖一等奖 (排名第三)。以负责人身份主持如下项目：国家自然科学基金面上项目、国家自然科学基金青年基金、哈尔滨工业大学青年拔尖教授选聘计划、黑龙江省科学基金青年基金等。 目前担任IEEE L-CSS、Journal of The Franklin Institute等期刊编委。 参与国家973重大基础研究计划、国家自然科学基金重大专项等。 蔡博 副教授/博导 现任《国际航天系统科学与工程》编委、《中国科学：技术科学》客座编委，黑龙江省优秀青年科学基金获得者。在多模态无人系统决策与控制研究方向上，承担了国家自然科学基金青年基金、国家部委重大基础研究子专题等纵向项目，解决了多类无人平台的切换系统建模、智能自主决策与导航以及多模态敏捷控制等问题。在Automatica、IEEE TAC、AST等控制及宇航领域权威期刊及会议上发表论文20余篇，申请国家发明专利6项。 翁睿 助理研究员 主要研究方向为无人机/车电控系统、鲁棒工业控制系统、FPGA和嵌入式系统等。参与国家973/863、国家部委重点项目、基础研究项目、创新项目等，主持国自然青年基金项目。发表学术论文十余篇，任国际期刊Complex Engineering Systems编委；出版译著1部，申请发明专利10项(授权5项)，授权软件著作权2项。制作的U盘芯片检测软件ChipGenius下载量突破三百万次，并被多家国外网站收录；制作的U盘测试软件MyDiskTest曾在央视新闻30分中被报道。 王东哲 师资博士后 主要研究领域包括航天器轨道设计、航天器总体设计、交叉现实、无人系统、无线传感网络等，研究内容面向新一代载人飞船试验船、天舟货运飞船等国家重大任务，在空间碎片减缓专家系统与月球车混合现实遥操作等预研项目中起到了关键性作用。共发表14篇相关领域学术论文，申请3项专利并授权。 学生培养 名称 近5年培养硕博士研究生40余人、本科生40余人。培养了获宝钢优秀学生特等奖 (全国25人)、中国电信奖学金天翼奖 (全国50人)、哈工大研究生“十佳英才”、优秀博士学位论文等荣誉的优秀学生；多名学生在哈佛大学、麻省理工学院、加州大学伯克利分校、苏黎世联邦理工学院等著名学府从事博士后研究、攻读博士学位或联合培养；毕业生在美国佐治亚理工大学、美国德州理工大学、中国航天科技/科工集团有限公司、华为技术有限公司、大疆创新科技有限公司、天津大学、国防科技大学等知名企业和高校工作。 Biography 名称 Lixian Zhang received the Ph.D. degree in control science and engineering from Harbin Institute of Technology, Harbin, China, in 2006. From January 2007 to September 2008, he was a Postdoctoral Fellow in the Department Mechanical Engineering at the Ecole Polytechnique de Montreal, Canada. He was a Visiting Professor at the Process Systems Engineering Laboratory, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA, from February 2012 to March 2013. Since January 2009, he has been with Harbin Institute of Technology, where he is currently full professor and vice dean of School of Astronautics. His research interests include multimodal systems, model predictive control, and their applications in the field of specialized robots. Prof. Zhang serves as Senior Editor for IEEE Control Systems Letters, and served as Associate Editor for IEEE Transactions on Automatic Control, IEEE Transactions on Cybernetics, etc. He was named to the list of Clarivate Highly Cited Researchers in 2016–2021. He is a recipient of the National Science Foundation for Distinguished Young Scholars of China. He is a Fellow of IEEE. Contact Information 名称 Lixian Zhang, Ph.D, Professor Vice Dean of School of Astronautics Harbin Institute of Technology (HIT) Address: Technology and Innovation Building (TIB), HIT, Nangang District, Harbin, China, 150080 Email: lixianzhang@hit.edu.cn ; lixianzhanghit@163.com Education 名称 2003.9-2006.8 Department of Control Science and Engineering, Harbin Institute of Technology, China, Ph.D. 2001.9-2003.7 Departmeng of Control Science and Engineering, Harbin Institute of Technology, China, M.Sc. 1996.9-2000.7 Department of Automation, Changchun Institute of Technology, China, B.Sc. Working and Research Experience 名称 July. 2018- School of astronautics, Harbin Institute of Technology, China, Vice Dean Mar. 2018- Artificial Intelligence Research Institute, Harbin Institute of Technology, China, Vice Dean Mar. 2015-Apr. 2015 Dept. of Mechanical Engineering, The University of Hong Kong, Hong Kong, Visiting Scholar Jan. 2013- School of Astronautics, Harbin Institute of Technology, China, Professor Feb. 2012-Feb. 2013 Process Systems Engineering Laboratory, Massachusetts Institute of Technology, USA, Visiting Professor July. 2009-Oct. 2009 Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, Sino-British Trust Fellowship Visiting Scholar Jan. 2009-Dec 2012 School of Astronautics, Harbin Institute of Technology, China, Associate Professor Jan. 2007-Sep. 2008 Department of Mechanical Engineering, Ecole Polytechnique de Montreal, Canada, Postdoctoral Fellow Current Research Interests 名称 Intelligent/Advanced Control; Specialized Robot Honors and Awards 名称 2017 IEEE Fellow (for contributions to nondeterministic switched systems) 2017 IET Fellow 2014-2021 Clarivate Analytics Highly Cited Researcher 2014 Highly Cited Article Award, in Automatica during 2010-2013 (4 Papers) 2009 Sino-British Fellowship Trust Visitorship Rewarded Visiting Scholar 2022 Winner of The National Science Fund for Distinguished Young Scholars 2011-2008 Outstanding Reviewer, IEEE Transactions on Automatic Control. 2019 Scientific and Technological Innovation leading Talent of Ten Thousand Plan 2015 Changjiang Young Scholar Distinguished Professor 2015 Young Top-Notch Talent of Ten Thousand Plan 2015 Winner of Heilongjiang Outstanding Youth Science Fund 2015 Youth Science and Technology Award of Heilongjiang Province 2014-2018 Elsevier Chinese Highly Cited Researcher 2014 National Award for Natural Science, (Two Class and Ranked Three) 2014 “One of 100 Most Influential Papers at China in 2013”Award 2013 National Science Fund for Excellent Young Scholars, 2012 Award for Natural Science of Heilongjiang Provice, (First class and ranked first). 2010 2nd Scopus "Young Researcher New Star Scientist Award" of China 2010 National New Century Excellent Talents Program of Ministry of Education 2017 Youth Five Four Medal of Heilongjiang Province 2016 Top 10 Outstanding CPC Members of Harbin Institute of Technology Professional Activities 名称 Journal Services： IEEE Control Systems Letters (Senior Editor, 2022-) IEEE Transactions on Automatic Control (Associate Editor, 2015-2020) IEEE Transactions on Cybernetics (Associate Editor, 2012-2021) IEEE Transactions on Industrial Informatics (Guest Editor for one Special Section, 2011) Optimal Control Applications and Methods (Subject Editor, 2015-) Neurocomputing (Associate Editor, 2011-2016) Journal of the Franklin Institute (Associate Editor, 2011-2016) Nonlinear Analysis: Hybrid Systems (Associate Editor, 2011-2014) Conference Services： Member of the International Program Committee for the 60th IEEE Conference on Decision and Control, IEEE CDC 2021 Member of the International Program Committee for the 59th IEEE Conference on Decision and Control, IEEE CDC 2020 Program Chair of the International Program Committee the 7th International Conference on Information Science and Technology, ICIST 2017 Program Chair of the International Program Committee for the 6th International Conference on Intelligent Control and Information Processing, ICICIP 2015 Co-chair of the International Program Committee for the 3rd International Symposium on Systems and Control in Aerospace and Astronautics, ISSCAA 2010 Chair of Invited Session of the 7th International Conference on Intelligent Control and Information Processing, ICICIP 2016 Chair of Invited Session of the IEEE 23rd IEEE International Symposium on Industrial Electronics Chair of Session of "Stochastic Hybrid Systems" in the 19th IFAC World Congress Chair of Session "Identification and Control" in the 2015 IEEE International Symposium on Industrial Electronics Chair of Session "Switched Systems I" in the 52nd IEEE Control and Decision Conference Chair of Session "Control System and Applications" in the 2013 IEEE International Symposium on Industrial Electronics Chair of Session "Neural Networks and Fuzzy Systems" in the 2013 American Control Conference Co-chair of the 7th Asia Control Conference Session "Stability and Control of Hybrid and Singular Systems", ACC 2009 Representative Journal Papers 名称 [1] J. Yang, Y. Zhu, L. Zhang, et al. SytaB: A Class of Smooth-Transition Hybrid Terrestrial/Aerial Bicopters. IEEE Robotics and Automation Letters, 2022, 7(4): 9199-9206. [2] R. Zhang, Y. Wu, L. Zhang, et al. Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles. IEEE Robotics and Automation Letters, 2022, 7:(2): 3008-3015. [3] L. Zhang, K. Xu, J. Yang, et al. Transition-Dependent Bumpless Transfer Control Synthesis of Switched Linear Systems. IEEE Transactions on Automatic Control, 2022, doi:10.1109/TAC.2022.3152721. [4] L. Zhang, H. Wang, Y. Zhu, et al. Tube-Based Attitude Control of Rigid-Bodies with Magnitude-Bounded Disturbances. Automatica, 2021, 133: 109845. [5] M. Han, L. Zhang, J. Wang, et al. Actor-Critic Reinforcement Learning for Control with Stability Guarantee. IEEE Robotics and Automation Letters, 2020, 5(4): 6217-6224. [6] L. Zhang, S. Zhuang, R. D. Braatz. Switched Model Predictive Control of Switched Linear Systems: Feasibility, Stability and Robustness. Automatica, 2016, 67: 8-21. [7] L. Zhang, Y. Leng, P. Colaneri. Stability and Stabilization of Discrete-Time Semi-MJLSs via Semi-Markov Kernel Approach. IEEE Transactions on Automatic Control, 2016, 61(2): 503-508. [8] L. Zhang, H. Gao, O. Kaynak. Network-Induced Constraints in Networked Control Systems – A Survey. IEEE Transactions on Industrial Informatics, 2013, 9(1): 403-416. [9] L. Zhang, P. Shi. Stability, l2-Gain and Asynchronous H∞ Control of Discrete-Time Switched Systems with Average Dwell Time. IEEE Transactions on Automatic Control, 2009, 54(9): 2193-2200. [10] L. Zhang, E. Boukas. Stability and Stabilization of Markovian Jump Linear Systems with Partly Unknown Transition Probabilities. Automatica, 2009, 45(2): 463-468.