安昊

基本信息 科学研究 学生教学 航空模型 新建主栏目 基本信息 名称 安昊，空间控制与惯性技术研究中心副主任，青年拔尖副教授，博士生导师，入选博新计划、黑龙江省优青 研究方向：高超声速飞行器控制、空地协同智能无人系统 兴趣爱好：航空模型设计、制作、飞行，欢迎哈工大的模友前来交流 工作经历 名称 2020-今，空间控制与惯性技术研究中心，副教授 2017-2019，空间控制与惯性技术研究中心，讲师 2017-2023，航空宇航科学与技术博士后流动站，博士后 教育经历 名称 2007-2017，哈尔滨工业大学 控制科学与工程，本科、硕士、博士 2015-2016，滑铁卢大学 机械电子工程，联培博士 研究方向 名称 团队负责人：王常虹 教授/博导。 围绕先进飞行控制技术，针对高超声速飞行器、空地无人系统、高空滑翔载具、空间站舱内机器人等对象开展理论与应用研究，主持国家自然科学基金、博士后创新人才支持计划、重大基础研究子项等科研项目。 研究方向1：高超声速飞行器控制理论 高超声速飞行器是空天领域的新制高点。针对吸气式高超声速飞行器机动/巡航/再入段的控制与制导相关问题开展理论研究，包括自抗扰/自适应/智能飞行控制、执行器优化分配与复合控制、关键系统协调控制、自主规划与智能制导等。 研究方向2：空地协同智能无人系统 空地协同智能无人系统是未来战争的新模式。针对复杂环境下异构多智能体系统开展理论与应用研究，包括新型飞行器设计、无人机高性能单体控制、异构多智能体协同控制、多源信息融合与态势感知等。 期刊论文 名称 Hao An, Haofeng Wang, Xueqing Zhang, Weinan Xie, Changhong Wang. Compound control of an uncertain hypersonic vehicle model. International Journal of Control, 2023.https://www.tandfonline.com/doi/full/10.1080/00207179.2021.1980824 Hao An, Ziyi Guo, Xueqing Zhang, Yiming Wang, Changhong Wang. Adaptive control of hypersonic vehicles using intelligent allocation. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2023.https://journals.sagepub.com/doi/10.1177/09544100231153261 Hao An, Yiming Wang, Guan Wang. Event-triggered adaptive control of hypersonic vehicles subject to actuator nonlinearities. Aerospace Science and Technology, 2023.https://www.sciencedirect.com/science/article/abs/pii/S1270963823000160 Hao An, Yiming Wang, Qianqian Wu, Changhong Wang. Dual-mode control of hypersonic vehicles. Control Engineering Practice, 2023.https://www.sciencedirect.com/science/article/abs/pii/S0967066122002234 Hao An, Yiming Wang, Guan Wang, Yonggui Kao, Changhong Wang. Fast inner-loop control of air-breathing hypersonic vehicles. International Journal of Control, 2022.https://www.tandfonline.com/doi/full/10.1080/00207179.2022.2135607 Guan Wang, Hao An, Yiming Wang, Hongwei Xia, Guangcheng Ma. Intelligent control of air-breathing hypersonic vehicles subject to path and angle-of-attack constraints. Astronautica Acta, 2022.https://www.sciencedirect.com/science/article/abs/pii/S0094576522003393 Guan Wang, Hao An, Ziyi Guo, Hongwei Xia, Weinan Xie, Guangcheng Ma. Neural longitudinal control of hypersonic vehicles with constrained aerodynamic surfaces. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2022.https://journals.sagepub.com/doi/10.1177/09544100211069181 Hao An, Changhong Wang. Optimizing allocation-based hypersonic flight control with actuator dynamics and constraints. Journal of Spacecraft and Rockets, 2022.https://arc.aiaa.org/doi/abs/10.2514/1.A34868 Muleilan Pei, Hao An, Bo Liu, Changhong Wang. An improved Dyna-Q algorithm for mobile robot path planning in unknown dynamic environment. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021.https://ieeexplore.ieee.org/abstract/document/9495840 Hao An, Qianqian Wu, Hongwei Xia, Guangcheng Ma, Changhong Wang. Hypersonic flight control considering parametric variations and VGI effects. International Journal of Control, 2021.https://www.tandfonline.com/doi/full/10.1080/00207179.2019.1676470 Hao Sun, Junjie Yang, Hao An, Changhong Wang. Improved online adjustment of step timing and location for legged locomotion. Journal of Intelligent & Robotic Systems, 2021.https://link.springer.com/article/10.1007/s10846-021-01406-1 Hao An, Ziyi Guo, Guan Wang, Changhong Wang. Neural adaptive control of air-breathing hypersonic vehicles robust to actuator dynamics. ISA Transactions, 2021.https://www.sciencedirect.com/science/article/pii/S0019057821000197 Hao An, Qianqian Wu, Hongwei Xia, Changhong Wang. Multiple Lyapunov function-based longitudinal maneuver control of air-breathing hypersonic vehicles. International Journal of Control, 2021.https://www.tandfonline.com/doi/full/10.1080/00207179.2019.1590650?af=R Hao An, Qianqian Wu, Guan Wang, Ziyi Guo, Changhong Wang. Simplified longitudinal control of air-breathing hypersonic vehicles with hybrid actuators. Aerospace Science and Technology, 2020.https://www.sciencedirect.com/science/article/pii/S1270963820306180 Hao An, Qianqian Wu, Guan Wang, Yonggui Kao, Changhong Wang. Adaptive compound control of air-breathing hypersonic vehicles. IEEE Transactions on Aerospace and Electronic Systems, 2020. 【博新计划优秀创新成果】https://ieeexplore.ieee.org/document/9106794 Hao An, Qianqian Wu, Changhong Wang, Xibin Cao. Simplified fault-tolerant adaptive control of air-breathing hypersonic vehicles. International Journal of Control, 2020.https://www.tandfonline.com/doi/full/10.1080/00207179.2018.1538569?af=R Koksal Nasrettin, Hao An, Baris Fidan. Backstepping-based adaptive control of a quadrotor UAV with guaranteed tracking performance. ISA Transactions, 2020.https://www.sciencedirect.com/science/article/pii/S0019057820302524 Hao An, Qianqian Wu, Changhong Wang, Xibin Cao. Scramjet operation guaranteed longitudinal control of air-breathing hypersonic vehicles. IEEE/ASME Transactions on Mechatronics, 2020.https://ieeexplore.ieee.org/document/9052491 Hao An, Ziyi Guo, Guan Wang, Changhong Wang. Low-complexity hypersonic flight control with asymmetric angle-of-attack constraint. Nonlinear Dynamics, 2020.https://link.springer.com/article/10.1007/s11071-020-05531-8 Hao An, Qianqian Wu. Switched-model-based compound control of hypersonic vehicles with input nonlinearities. Nonlinear Dynamics, 2019.http://link.springer.com/article/10.1007/s11071-019-05204-1 Hao An, Hongwei Xia, Guangcheng Ma, Changhong Wang. Adaptive control of a switched hypersonic vehicle model robust to scramjet choking and elevator fault. ISA Transactions, 2019.https://www.sciencedirect.com/science/article/pii/S0019057819302551 Hao An, Qianqian Wu. Adaptive control of variable geometry inlet configured air-breathing hypersonic vehicles. Journal of Spacecraft and Rockets, 2019.https://arc.aiaa.org/doi/full/10.2514/1.A34257 Hao An, Qianqian Wu. Anti-windup disturbance suppression control of feedback linearizable systems with application to HFVs. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2018.https://journals.sagepub.com/doi/abs/10.1177/0954410018808966 Hao An, Qianqian Wu, Changhong Wang. Differentiator based full-envelope adaptive control of air-breathing hypersonic vehicles. Aerospace Science and Technology, 2018.https://www.sciencedirect.com/science/article/pii/S1270963818312100 Hao An, Baris Fidan, Qianqian Wu, Changhong Wang, Xibin Cao. Sliding mode differentiator based tracking control of uncertain nonlinear systems with application to hypersonic flight. Asian Journal of Control, 2018.https://onlinelibrary.wiley.com/doi/full/10.1002/asjc.1932 Hao An, Qianqian Wu, Hongwei Xia, Changhong Wang, Xibin Cao. Adaptive controller design for a switched model of air-breathing hypersonic vehicles. Nonlinear Dynamics, 2018.https://link.springer.com/article/10.1007/s11071-018-4461-1 Hao An, Qianqian Wu. Disturbance rejection dynamic inverse control of air-breathing hypersonic vehicles. Astronautica Acta, 2018.https://www.sciencedirect.com/science/article/pii/S0094576517317708 Hao An, Qianqian Wu, Hongwei Xia, Changhong Wang. Control of a time-varying hypersonic vehicle model subject to inlet un-start condition. Journal of the Franklin Institute, 2018.https://www.sciencedirect.com/science/article/pii/S0016003218302734 Jianxing Liu, Hao An, Yabin Gao, Changhong Wang, Ligang Wu. Adaptive control with limited angle-of-attack for hypersonic flight vehicles. IEEE/ASME Transactions on Mechatronics, 2018.https://ieeexplore.ieee.org/document/8276642 Hao An, Qianqian Wu, Hongwei Xia, Changhong Wang. Fast tracking control of air-breathing hypersonic vehicles with time-varying uncertain parameters. Nonlinear Dynamics, 2018.https://link.springer.com/article/10.1007/s11071-017-3985-0 Hao An, Baris Fidan, Jianxing Liu, Changhong Wang, Ligang Wu. Adaptive fault-tolerant control of air-breathing hypersonic vehicles robust to input nonlinearities. International Journal of Control, 2017.https://www.tandfonline.com/doi/full/10.1080/00207179.2017.1381346 Hao An, Changhong Wang, Baris Fidan. Sliding mode disturbance observer-enhanced adaptive control for the air-breathing hypersonic flight vehicle. Acta Astronautica, 2017.https://www.sciencedirect.com/science/article/pii/S0094576516301011 Hao An, Hongwei Xia, Changhong Wang. Barrier Lyapunov function-based adaptive control for hypersonic flight vehicles. Nonlinear Dynamics, 2017.https://link.springer.com/article/10.1007/s11071-017-3347-y Hao An, Hongwei Xia, Changhong Wang. Finite-time output tracking control for air-breathing hypersonic vehicles with actuator constraints. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2017.https://journals.sagepub.com/doi/abs/10.1177/0954410016675894 Hao An, Jianxing Liu, Changhong Wang, Ligang Wu. Approximate backstepping fault-tolerant control of the flexible air-breathing hypersonic vehicle. IEEE/ASME Transactions on Mechatronics, 2016.https://ieeexplore.ieee.org/abstract/document/7350157 Hao An, Jianxing Liu, Changhong Wang, Ligang Wu. Disturbance observer-based antiwindup control for air-breathing hypersonic vehicles. IEEE Transactions on Industrial Electronics, 2016.https://ieeexplore.ieee.org/abstract/document/7378298 学生培养 名称 每年招收博士1~2名、硕士2名，欢迎对飞行器制导控制理论及应用（高超声速飞行器、旋翼/固定翼无人机、智能无人系统、空间机器人）感兴趣且求真务实、踏实肯干的同学加入。 课题组可提供多旋翼、固定翼、直升机、智能车等多样科研竞赛平台，欢迎对飞行控制理论、无人机单体控制、无人车协同控制感兴趣的本科生开展科创和毕设。 研究方向1：高超声速飞行器控制 郭子仪，硕士毕业，《执行器受限下高超声速飞行器智能自适应控制》，哈工大优秀硕士论文 王一鸣，博士在读 钟新宇，硕士在读 研究方向2：空地协同智能无人系统 1）无人机单体控制 张雪晴，硕士毕业，《四旋翼飞行器神经网络自适应控制算法研究》 王一鸣，硕士毕业，《基于动态逆的四旋翼姿态快速跟踪控制》 董佳宝，硕士毕业，《四旋翼飞行器快飞控制算法设计与实现》 卢林昌，硕士在读 王俊威，硕士在读 叶泳锋，博士在读 2）多智能体协同控制 汪皓枫，硕士毕业，《状态受限下多智能体快速编队控制》 许志敏，博士在读 郑铃川，硕士在读 李迎辉，硕士在读 教学工作 名称 《自动控制实践I》（2020秋、2021秋、2022秋、2023秋） 1956年，苏联专家古金科教授首次在哈工大工讲授《自动控制元件》，常健生先生根据听课内容，编写了国内最早的《自动控制元件》教材。历经数十载，该课程一直是自动控制专业核心课，后演变为《自动控制元件及线路》，2006年被评为黑龙江省精品课程，2016年演变为《自动控制实践I》校管核心课，2021年被评为省级一流本科课程。 《自动控制实践I》面向控制科学与工程全系本科生开课，讲授控制系统中常见元件的原理、结构、特性，使学生理解并掌握几类元件的理论基础、选择依据、发展趋势以及前沿应用。除48学时的课堂讲授外，32学时的实践环节是本课程的一大特色，学生利用课堂知识独立设计、制作、调试驱动模块，并测试电机相关特性。 《飞行器先进制导与控制》 竞赛奖励 名称 “飞鲨杯”第七届中国研究生未来飞行器创新大赛，三等奖 “砺剑杯”智能空天创新大赛，优胜奖 哈尔滨工业大学大一年度项目，一等奖 “飞鲨杯”第六届中国研究生未来飞行器创新大赛，三等奖 “无人争锋”智能无人机集群系统挑战赛，冠军 全国航空航天模型锦标赛（科研类）科技创新项目，一等奖 全国航空航天模型锦标赛（科研类）直升机模拟搜救项目，二等奖 黑龙江省大学生创新设计制作飞行器大赛科技创新项目，二等奖 直升机_雷虎X50 名称 参考配置 动力：OS-55HZ 陀螺仪：Futaba-CGY750 斜盘舵机：Savox-1256TG 锁尾舵机：Futaba-BLS251 油门舵机：Futaba-S9254 供电系统：Gryphon GVR-7020 直升机_雷虎R50SE 名称 参考配置 动力：OS-55HZ 陀螺仪：ACE-TG7000 斜盘舵机：Savox-1256TG 锁尾舵机：Futaba-S9254 油门舵机：Futaba-S9253 供电系统：Hobbywing-UBEC 10A 直升机_雷虎E550 名称 参考配置 电机：ACE-1150KV 电调：Castel-Talon 90 电池：6S 5000mah锂电池 陀螺仪：ACE-GT5.2 斜盘舵机：ACE-DS1510 锁尾舵机：Futaba-BLS251 固定翼_50级油动练习机 名称 固定翼_SR22像真机 名称