班晓军

基本信息 科学研究 教育教学 论文专著 新建主栏目 基本信息 名称 班晓军，哈尔滨工业大学 航天学院 控制科学与工程学科 教授，博士生导师，控制理论与制导技术研究中心副主任。从事经典伺服控制理论、模糊逻辑控制理论、自适应自学习控制理论、系统参数状态估计及在机电伺服控制系统以及运动体制导控制中的应用研究。 工作经历 名称 时间 工作经历 2006.12 - 2009.12 哈尔滨工业大学 航天学院 控制理论与制导技术研究中心 讲师 2008.12 - 2013.06 哈尔滨工业大学 机电学院 机械工程博士后流动站 博士后 2009.12 - 2015.12 哈尔滨工业大学 航天学院 控制理论与制导技术研究中心 副教授 2011.03 - 2012.03 美国北卡罗来纳州立大学 电气工程与计算机系 访问学者 2014.09 - 2014.09 美国明尼苏达大学 培训访问 2015.05 - 至今 哈尔滨工业大学 航天学院 控制理论与制导技术研究中心 博士生导师 2015.12 - 至今 哈尔滨工业大学 航天学院 控制理论与制导技术研究中心 教授 2017.10 - 2019.01 美国北卡罗来纳州立大学 机械与航空宇航工程系 访问学者 教育经历 名称 时间 地点 学位 1997.09 - 2001.07 哈尔滨工程大学 自动化学院 自动控制 工学学士 2001.09 - 2003.07 哈尔滨工业大学 航天学院 控制理论与工程 工学硕士 2003.09 - 2006.10 哈尔滨工业大学 航天学院 控制科学与工程 工学博士 主要任职 名称 2012.05 - 至今 任哈尔滨工业大学 航天学院 控制理论与制导技术研究中心 教学副主任 研究领域 名称 理论研究方向： 模糊逻辑控制理论； 自适应自学习(强化学习)控制理论； 系统参数、状态滤波估计理论； 应用研究方向： 机电运动伺服控制系统设计：低（微）重力主动张力控制系统、振镜控制系统、绳索牵引主动力伺服控制系统； 运动体（集群）制导控制：运动体（集群）避障、轨迹跟踪控制、目标跟踪控制； 运动体运动信息估计：运动体速度、位置信息估计； 团队成员 名称 黄显林：教授，博士生导师，团队负责人 研究方向： 飞行器导航与控制； 复杂系统自适应控制； 机电伺服运动控制系统设计； 卢鸿谦：副教授，硕士生导师 研究方向： 机电伺服运动控制系统设计； 惯性GNSS导航与滤波； 计算机视觉导航； 尹 航：讲师 研究方向： 机电伺服控制系统设计； 单片机/DSP/FPGA/ARM系统软硬件开发； 控制电路设计； 科研项目 奖项成果 奖项名称 宇航空间机构悬吊法重力补偿关键技术 获奖时间 2015 完成人 排名7 所获奖项 黑龙江省技术发明一等奖 简单介绍 讲授课程 名称 系统辨识与自适应控制：研究生学位课，32学时，2学分。课程介绍：系统辨识与自适应控制是现代控制理论与工程应用领域中的一个重要分支。系统辨识就是要从系统的输入输出数据中设法得到系统的数学模型，而自适应控制就是要想办法根据被控对象参数或结构的变化而在线实时调整控制律的结构或参数以期达到理想的控制性能。本课程将介绍系统辨识的基本方法以及若干种典型自适应控制系统的设计与分析方法。 模糊控制：本科生专业限选课，24学时，1.5学分。课程介绍：传统线性控制理论都基于被控对象精确的线性数学模型。随着被控对象动态特性的日益复杂化，传统线性控制理论的应用受到了一定限制。而基于模糊集合论发展起来的模糊控制理论为缺乏精确数学模型的复杂对象以及非线性对象的控制提供了一种理论与方法。本课程旨在为自动化专业本科生能够运用模糊控制理论来解决复杂对象的控制问题奠定理论基础，让学生掌握模糊数学以及模糊逻辑的基本概念，掌握基于离散以及连续论域的模糊控制器的设计方法，让学生初步了解T-S模糊模型以及相应的控制律设计方法，了解模糊自适应控制器设计的基本方法。 智能系统控制理论：本科生专业选修课，32学时，2学分。课程介绍：本课程介绍模糊逻辑控制、神经网络控制以及强化学习控制的基本原理和核心算法，旨在让学生掌握智能系统控制领域的基本原理和思路，掌握一种能够处理复杂非线性被控对象、处理模型结构不确定性、参数不确定性以及具有“自学习自适应能力”的控制理论。 System Identification and Adaptive control: Elective course for international students. Introduction: System identification and adaptive control is an important branch of modern control theory and engineering. The concept of System Identification is trying to obtain a mathematical model of the system according to its input and output data. While for Adaptive Control, we should develop a method to realize online real-time adjustment to the structures or parameters of the control laws according to the variation of the structures or parameters of the controlled object, in order to reach an ideal control performance. This course will introduce the basic method of system identification and the designing and analyzing methods of several typical adaptive control systems, including the least square identification algorithm and its variations, fuzzy model identification methods, stochastic adaptive control systems, gain scheduling adaptive control systems, and model reference adaptive control systems. 招生信息 名称 硕士研究生：每年计划招收 2-3 名硕士研究生； 研究方向1：机电伺服控制系统设计；具体包括振镜电机、力控制、绳索牵引力伺服控制等机电伺服控制系统研发； 研究方向2：运动体制导控制；包括运动体（集群）障碍物躲避、目标跟踪、轨迹跟踪； 研究方向3：运动体运动信息估计； 博士研究生：每年计划招收1-2名博士研究生； 研究方向1：自适应自学习（强化学习）理论及在运动体制导控制中的应用； 研究方向2：模糊逻辑控制理论及在运动体制导控制中的应用； 研究方向3：多（单）目标运动信息估计； 论文期刊 名称 期刊论文： 1. J. M. Bundi, X. J. Ban, David Wafula Wekesa, Yue Sun. Advanced Gain Scheduled Control of A DFIG based on a H-Darrieus Wind Turbine for Maximum Power Tracking and Frequency Support. Journal of Control Engineering and Applied Informatics, Vol 22(2): 23-32, Jun 27, 2020. 2. J. M. Bundi, X. J. Ban, David Wafula Wekesa, and Shuchen Ding. Pitch control of small H-Type darrieus vertical axis wind turbines using advanced gain scheduling techniques. Renewable Energy. Vol.161: 756-765, December, 2020. 3. X. J. Ban, Liwei Ren, Zhibin Yan, Ying Hao. Perfect tracking control of discrete-time quadratic TS fuzzy systems via feedback linearisation. International Journal of Systems Science, 50(12): 2316-2332，2019. 9. 4. 任立伟, 班晓军, 吴奋，黄显林. 二自由度飞行姿态模拟器的模糊强化学习控制. 电机与控制学报, 23(11):127-134, 2019.11. 5. 杨烨峰，邓凯，左英琦，班晓军，黄显林. Pilco框架对飞行姿态模拟器系统的参数设计与优化. 光学精密工程, 27(11): 2365-2373, 2019.11. 6. 尹航，杨烨峰，赵岩，梁悦，班晓军. 二自由度飞行姿态模拟器自整定控制器设计. 电机与控制学报，22(4)，pp. 105-112, 2018，4. 7. Liwei Ren, X. J. Ban and Hao Ying. Feedback-linearization-based control of discrete-time quadratic TS fuzzy systems with disturbances. Journal of Intelligent & Fuzzy Systems, pp. 1-14, 2018. 8. Hongyang Zhang, X. J. Ban, and Fen Wu, Stability analysis and controller design for a novel nonlinear system: Fuzzy parameter varying system, Journal of Intelligent & Fuzzy Systems, Vol. 34, No. 6, pp. 4387-4395, 2018. 9. 任立伟，洪娟，班晓军，黄显林. 离散模糊多项式系统的输出反馈跟踪控制. 电机与控制学报，21(12), pp. 93-99, 2017, 12. 10. 李杨，班晓军，卢鸿谦，尹航，黄显林. 基于T-S模糊模型的恒张力系统摩擦预测. 光学精密工程，25(12), pp. 87-94, 2017,12. 11. Yang Liu, X.J. Ban, Fen Wu, and H.K. Lam, Gain-Scheduling Control of T-S Fuzzy Systems with Actuator Saturation, Journal of Intelligent & Fuzzy Systems，Vol. 32, no. 3, pp. 2579–2589, 2017. 12. Yang Liu, Fen Wu, and X. J. Ban, Dynamic Output Feedback Control for Continuous-Time T-S Fuzzy Systems Using Fuzzy Lyapunov Functions. IEEE Transactions on Fuzzy Systems, Vol. 25. No. 5, pp. 1155-1167, Oct. 2017. 13. 张洪杨，梁悦，班晓军，吴奋. 一种新型非线性时变模型：模糊变参数系统. 电机与控制学报, 20(11)，pp. 86-91, 2016.11. 14. Yang Liu, X. J. Ban, Fen Wu, H. K. Lam, A Gain-Scheduling Control Approach for T-S fuzzy Systems Based on linear Parameter-varying Control Theory, ASME Journal of Dynamic Systems, Measurement, and control. Vol. 138. No. 1, Jan, 2016. 15. X. J. Ban, Fen Wu, Output feedback control of linear fractional transformation systems subject to actuator saturation, International Journal of Systems Science, Vol. 47, No. 15, pp. 3646-3655, 2016. 11. 16. X. J. Ban, Fen Wu, Gain scheduling output feedback control of linear plants with actuator saturation, Journal of the Franklin Institute- Engineering and applied mathematics, Vol. 352, No. 10, pp. 4163-4187, October, 2015. 17. X. J. Ban, Z. Q. Deng, Fen Wu, X. L. Huang, Fuzzy gain-scheduling output feedback controller design for saturated linear plants. Journal of Harbin Institute of Technology (New Series), Vol. 19, No. 6, pp. 79-86, December, 2012. 18. H. K. Lam, L.D. Seneviratne, and X. J. Ban, Fuzzy Control of Nonlinear Systems Using Parameter-Dependent Polynomial Fuzzy Model, IET Control Theory and Applications, Vol. 6, No. 11, pp.1645-1653, 2012. 19. X. J. Ban, X. Z. Gao, and X. L. Huang, Graphical L-2-stability analysis of Takagi-Sugeno control systems in the frequency domain, Fuzzy Sets and Systems, Vol. 171, No. 1, pp. 93 - 105, May, 2011. 20. X. J. Ban, X.Z. Gao, X.L. Huang, L2-Stability Analysis of Proportional Takagi-Sugeno Fuzzy Controller Based Control systems, Intelligent Automation and Soft Computing, Vol. 16, No. 1, pp. 61-71, 2010, 1. 21. X. J. Ban, X.Z. Gao, X.L. Huang, Comments on ‘‘Stability analysis for a class of Takagi–Sugeno fuzzy control systems with PID controllers”, International Journal of Approximate Reasoning, Vol. 50,no.3, pp. 578-579, 2009, 3. 22. X. J. Ban, X. Z. Gao, X. L. Huang, H. Yin. Stability Analysis of the Simplest Takagi-Sugeno Fuzzy Control System Using Popov Criterion. International Journal of Innovative Computing, Information and Control, Vol. 3, No. 5, pp. 1087-1096, October 2007. 23. X. J. Ban, X. Z. Gao, X. L. Huang, H. Yin. Stability Analysis of the Simplest Takagi-Sugeno Fuzzy Control System Using Circle Criterion. Information Sciences, Vol. 177, No. 20, pp. 4387-4409, 2007.10. 24. X. J. Ban, X. Z. Gao, X. L. Huang, T. B. Wu. Analysis of One and Two Dimensional Fuzzy Controllers. Journal of Systems Engineering and Electronics. Vol. 17, No. 2, pp. 362~373, 2006. 06. 25. 吴天宝, 黄显林, 卢鸿谦, 班晓军. 基于非线性动态逆方法的TF/TA控制器设计. 宇航学报，Vol. 25, No. 3, pp.289-294, 2004. 会议论文： 1.Y. Yang, X. J. Ban, X. Huang and C. Shan, A Dueling-Double-Deep Q-Network Controller for Magnetic Levitation Ball System, 39th Chinese Control Conference (CCC), pp. 1885-1890, Shenyang, China, July, 27-29, 2020. 2.Bundi, Josephat Machoka, X. J. Ban, and David W. Wekesa. A study on the frequency response of a small scale DFIG-based VAWT considering the moment of inertia: A control perspective, The 46th Annual Conference of the IEEE Industrial Electronics Society, pp. 3182-3187, 18-21 Oct. 2020, Marina Bay Sands Expo and Convention Centre, Singapore. 3.Bundi, Josephat Machoka, X. J. Ban, Shuchen Ding, and Xianlin Huang. LPV Control of a DFIG-Based Small Vertical Axis Wind Turbine: A Comparison Study with H∞ and PID Control, 39th Chinese Control Conference (CCC), pp. 1767-1771, 27-29 July 2020, Shenyang, China. 4.Tao Huang, Yue Liang, X. J. Ban, Jian Zhang, Xianlin Huang. The Control of Magnetic Levitation System Based on Improved Q-network, IEEE Symposium Series on Computational Intelligence, pp. 191-197, Dec 6-9, Xiameng, China, 2019. 5. Liwei Ren, Hongyang Zhang, X. J. Ban, Xianlin Huang. LMI-based Stability Analysis of Discrete-time Quadratic TS Fuzzy Systems, 37th Chinese Control Conference. pp. 3304-3310, July 25-27, 2018, Wuhan, China. 6. X. J. Ban, Hongyang Zhang, Fen Wu, Stability Analysis and Controller Design for Fuzzy Parameter varying Systems Based on Fuzzy Lyapunov Function, ASME 2018 Dynamics Systems and Control Conference Sep. 30-Oct. 2, 2018, Atlanta Georgia, USA. 7. Hongyang Zhang, X. J. Ban, Fen Wu. Piecewise Lyapunov Function Based Stability Analysis of Fuzzy Parameter Varying Systems, The 36th Chinese Control Conference, Dalian, China, July, 26-28, 2017. 8. X. J. Ban, Y. Liu, X. L. Huang, Fen Wu. Output feedback control for fuzzy systems subject to actuator saturation based on fuzzy Lyapunov functions, Proceedings of ASME 2016 Dynamic Systems and Control Conference, pp. 1-9, Oct. 12-14, 2016, Minneapolis, Minnesota, USA. 9. Liwei Ren, X. J. Ban, H. Ying, Stability analysis for a general class of discrete-time polynomial fuzzy dynamic systems, IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), pp. 1-6, Aug. 2-5, 2015, Istanbul, Turkey. 10. Liwei Ren, X. J. Ban, Xianlin Huang, and Shuchen Ding, Parameter Identification of Gyro Using Recursive Subspace Algorithm, 17th IFAC Symposium on System Identification (SYSID), Vol.48, No. 28, pp. 662-667, Oct. 19-21, 2015, Beijing China. 11. X. J. Ban, Fen Wu, Gain scheduling output feedback control of linear plants with partial actuator saturation, The 19th World Congress of the International Federation of Automatic Control, pp. 9486-9491, August 24-29, 2014, Cape Town, South Africa. 12. Y. Liu, X.J. Ban, F. Wu, and H.K. Lam, Dynamic Output Feedback Controller Design for T-S Fuzzy Plants with Actuator Saturation Using Linear Fractional Transformation, International conference on fuzzy systems (FUZZ-IEEE), pp. 2125 - 2132, July 6-11, 2014, Beijing. 13. Y. Liu, X. J. Ban, and X. L. Huang, A New Design Method of H_infinity State Feedback Gain-scheduling Controller for T-S Fuzzy Systems, International Conference on Mechatronics and Control (ICMC2014), pp. 233-238, July, 3-5, 2014, Jinzhou, China. 14. Y. Liu, X. J. Ban, X. L. Huang, H. J. Pang. Gain scheduling output feedback controller design for hypersonic vehicle with actuator saturation. The 32nd Chinese Control Conference (CCC), Xian, China, July, 26-28, 2013: 5644-5649. 15. Y. Zhao, X. J. Ban, X. L. Huang, Design and implementation of a fuzzy controller for swing-up control of an inverted pendulum, The 32nd Chinese Control Conference (CCC), Xian, China, July, 26-28, 2013: 3413-3417. 16. X. J. Ban, Fen Wu, Gain scheduling output feedback controller design for saturated linear plants, The 31st Chinese Control Conference (CCC), Hefei, China, July 25-27, 2012: 89-94. 17. Z. J. Zhang, X. J. Ban, X. L. Huang, X. Z. Gao, New delay-dependent robust stability for T-S systems with interval time varying delay, Proceedings of the 5 th International Joint Conference on Computational Sciences and Optimization, Harbin, China, June, 23-26, 2012:826-830. 18. X. J. Ban, Z. J. Zhang, X. L. Huang, LMI based stability conditions for nonlinear systems constructed by fuzzy input-output models, The 2nd International Conference on Intelligent Control and Information Processing (ICICIP), Harbin, China, July, 25-28, 2011: Vol. 2, 983-987. 19. X. J. Ban, X. Z. Gao, X. L. Huang, and K. R. Cao, A Type of Fuzzy Input-Output Model and Its Property, WCCI 2010 IEEE World Congress on Computational Intelligence, Barcelona, Spain, July, 18-23, 2010:505-509. 20. X. J. Ban, X. Z. Gao, X. L Huang, Y. Hang. Stability Analysis of the Simplest Takagi-Sugeno Fuzzy Control System Using Popov Criterion. 11th Online World Conference on Soft Computing in Industrial Applications, September 18 - October 6, 2006, Soft Computing in Industrial Applications: Recent and Emerging Methods and Techniques, 39: 63 ~71, 2007. 21. X. J. Ban, X. Z. Gao, X. L. Huang, H. Yin. Stability Analysis of the Simplest Takagi-Sugeno Fuzzy Control System Using Circle Criterion. IEEE International Conference on Fuzzy Systems, Vancouver, Canada, 16-21 June 2006:9628~9633. 22. X. J. Ban, X. Z. Gao, X. L Huang, H. S. Lin. Design of a Takagi-Sugeno Fuzzy Compensator for Inverted Pendulum Control Using Bode Plots. 10th Online World Conference on Soft Computing in Industrial Applications, September-October 2005, A. Tiwari, J. Knowles. Applications of Soft Computing: Recent Trends. Springer, 2006:47~56. 23. X. J. Ban, X. Z. Gao, X. L. Huang, T. B. Wu. Analysis of One and Two Dimensional Fuzzy Controllers. IEEE International Conference on Fuzzy Systems, Reno, NV USA, 22-25 May 2005:395~401. 24. X. J. Ban, X. Z. Gao, X. L. Huang. Design of a Hybrid Fuzzy-PD Controller for Inverted Pendulum. IEEE International Conference on Systems, Man, and Cybernetics, Hague, Netherlands, 10-13 October 2004:2286~2291. 专利情况 名称 班晓军、汤文、赵岩、卢鸿谦、尹航、黄显林, 一种研究控制律用的二自由度直升机模拟器，发明专利 : ZL201410090315.X, 2014.03.13; 班晓军、卢鸿谦、尹航、王博、黄显林, 一种具有负载大范围可调功能的微重力模拟张力控制机构, 发明专利 : ZL201610452497.X, 2018.07.06;