个人简介

       张清瑞博士，副教授、博士生导师，作为中山大学“百人计划”青年学术人才加入中山大学航空航天学院。于2013年在哈尔滨工业大学获得自动化专业学士学位；于2019年在加拿大多伦多大学航空宇航研究所(University of Toronto Institute for Aerospace Studies, UTIAS)，获得航空航天科学与技术博士学位。曾在荷兰代尔夫特理工大学(TU Delft)从事博士后研究工作。

       目前，主要面向无人系统的自主性、鲁棒性和协同性需求，开展机器人学习控制、运动规划、鲁棒可靠控制以及集群规划等方面的研究工作，应用背景包括多无人机集群化协同作业、非结构环境下无人机自主安全飞行、复杂地形下四足机器人平稳运动、高海况下无人船艇可靠控制等。期望通过融合传统控制思想与学习控制的数据驱动特性，全面挖掘无人系统本体潜能，提升安全可靠性和自主智能性，拓展其在更广泛场景中的应用。

研究领域

  • 机器人学习与控制（Robot Learning & Control）
  • 集群规划与控制（Swarm Planning & Control）
  • 多机协同编队与应用（Multi-UAV Formation Flight & Its Applications）
  • 无人系统鲁棒可靠控制（Robust and Reliable Control of Unmanned Systems）

       目前要研究方向包括无人系统的集群规划与控制 （主）、四足机器人的学习控制（副）和无人船艇的安全可靠控制（副）。如果你对本人研究领域及当前研究方向感兴趣，非常欢迎通过电子邮件联系我 （本校学生可以预约面谈）。沟通前，请仔细查看下面要求。

       【招生要求】：1.对无人机、机器人的规划与控制具有强烈的兴趣，具有足够好奇心、主动性，对数理公式不排斥（如果喜爱则更好）；2.对于科研有较高的自我要求，对科研项目有正确认知，具有内驱力、自律性；3.工作态度端正，对待事情有责任心，积极努力上进；4.有必要的基础知识和编程技能，包括自动控制原理（必要）、无人机动力学与控制、最优化理论与方法、Python(必要)/C++等；5.对于做实物试验或代码的实物/硬件部署不排斥，有相关经验的更佳。感兴趣的同学欢迎随时沟通。（要求1-3是必要项）

联系方式

E-mail： zhangqr9@mail.sysu.edu.cn

通讯地址：深圳市光明区新湖街道公常路66号

工作经历

2023-06至今，中山大学航空航天学院，副教授

2020-09至2023-06，中山大学航空航天学院，助理教授

2019-09至2020-09，Delft University of Technology (TU Delft)，The Netherlands，博士后

教育经历

2013-09至2019-03，The Institute for Aerospace Studies, University of Toronto,博士

2009-09至2013-07，哈尔滨工业大学，控制科学与工程系，学士

科研项目情况（部分）

广东省重点领域研发计划，2024-01至2026-12，课题负责人

广东省自然科学基金面上项目，2024-01至2026-12，主持

机器人技术与系统国家重点实验室(HIT)，2024-01至2025-12，主持

深圳市自然科学基金面上项目，2022-09至2025-08，主持

国家级科技创新领域纵向项目，2022-10至2024-09，主持

国家自然科学基金青年项目，2022-01至2024-12，主持

国家级科技创新领域纵向项目，2024-01至2026-12，参研，排名第二

国家自然科学基金面上项目，2024-01至2027-12，参研

国家级科技创新领域纵向项目，2023-12至2025-11，参研，排名第三

国家级科技创新领域纵向项目，2022-01至2025-12，参研

国家自然科学基金面上项目，2022-01至2025-12，参研

国家级科技创新领域纵向项目，2020-01至2022-06，参研，排名第二

国家级科技创新领域纵向项目，2020-07至2022-06，参研，排名第三

部分研究成果展示

当前实验室条件包括运动捕捉系统、四旋翼无人机、地面无人车、四足机器人等。

部分试验结果及平台展示
更多研究成果视频展示可以关注本人视频号：

主要学术成果

期刊论文（*通讯作者）

  1. Xueming Liu, Lin Li, Xiang Zhou, Qingrui Zhang∗, Tianjiang Hu∗, “Cooperative Circumnavigation for Multi-Quadrotor Systems Via Onboard Sensing”, IEEE Robotics and Automation Letters, 2025 (Early access) DOI:10.1109/LRA.2025.3588752
  2. Xueming Liu, Dengyu Zhang, Qingrui Zhang∗, Tianjiang Hu∗, “Formation Control for Enclosing and Tracking via Relative Localization”, IEEE Transactions on Aerospace and Electronic Systems, 2025 (Early access) DOI:10.1109/TAES.2025.3557798
  3. Dengyu Zhang, Chenghao Yu, Feng Xue, and Qingrui Zhang∗, “Learning Efficient Flocking Control based on Gibbs Random Fields”, IEEE Robotics and Automation Letters, Vol. 10, No. 4, pp. 3478 - 3485, Apr. 2025 DOI: 10.1109/LRA.2025.3541909
  4. Guobin Zhu, Qingrui Zhang∗, Bo Zhu, and, Tianjiang Hu, “Heuristic Predictive Control for Multirobot Flocking in Congested Environments”, IEEE/ASME Transactions on Mechatronics, Vol. 30, No. 2, pp. 1435 - 1446, Apr. 2025 DOI: 10.1109/TMECH.2024.3430907
  5. Zheng Zhang, Qingrui Zhang∗, Bo Zhu, Xiaohan Wang, Tianjiang Hu∗, “EASpace: Enhanced Action Space for Policy Transfer”, IEEE Transactions on Neural Networks and Learning Systems, Vol. 36, No. 1, pp. 1272 - 1286, Jan. 2025 DOI: 10.1109/TNNLS.2023.3322591
  6. Zehong Dong, Maolong Lv, Xingya Da∗, and Qingrui Zhang, “Neuro-Adaptive Singularity-Free Fixed-Time Constrained Trajectory Tracking Control of HFVs With Specified Accuracy”, International Journal of Robust and Nonlinear Control, Jan. 2025 (Early Access) DOI: 10.1002/rnc.7864
  7. Shiyao Li, Zhiquan Chen, Qingrui Zhang∗, Tianjiang Hu, and Bo Zhu∗, “Maneuver synchronization of networked rotating platforms using historical nominal command”, Control Engineering Practice, Vol. 153, pp. 106081, Sep. 2024 DOI: 10.1016/j.conengprac.2024.106081
  8. Xinyu Zhang, Zhiyuan Xiao, Xiang Zhou, and Qingrui Zhang∗, “SYNLOCO-VE: Synthesizing central pattern generator with reinforcement learning and velocity estimator for quadruped locomotion”, Optimal Control Applications and Methods, Jul. 2024 DOI: 10.1002/oca.3181
  9. Zheng Zhang, Dengyu Zhang, Qingrui Zhang∗, Wei Pan, and Tianjiang Hu∗, “DACOOP-A: Decentralized Adaptive Cooperative Pursuit via Attention”, IEEE Robotics and Automation Letters, Vol. 9, No. 6, pp. 5504 - 5511, Jun. 2024 DOI: 10.1109/LRA.2023.3331886
  10. Zisen Nie, Qingrui Zhang, Xiaohan Wang, Fakui Wang, and Tianjiang Hu, “Time-varying uncertainty and disturbance estimator without velocity measurements: Design and application”, Control Engineering Practice, Vol. 143, pp. 105780, Feb. 2024 DOI: 10.1016/j.conengprac.2023.105780
  11. 张清瑞，刘赟韵，孙慧杰，朱波*，固定翼无人机紧密编队的鲁棒协同跟踪控制，航空学报，2024，45 (1): 629233-1 - 629233-17.
  12. 刘坤达，刘雪明，朱波，张清瑞*，面向狭窄通道穿越的多机编队安全鲁棒控制，航空学报（在线发表，首发时间2024-01-03，DOI:11.1929.V.20240102.1414.002）
  13. Te Zhang, Bo Zhu∗, Lei Zhang, Qingrui Zhang, and Tianjiang Hu, “Triangular lattice formation in robot swarms with minimal local sensing”, IET Cyber Systems and Robotics, Vol. 5, No. 2, pp. e12087, Jul. 2023 DOI: 10.1049/csy2.12087
  14. Qingrui Zhang, Wei Pan∗, and Vasso Reppa∗, “Model-reference reinforcement learning for collision-free tracking control of autonomous surface vehicles”, IEEE Transactions on Intelligent Transportation Systems, Vol. 23, No. 7, pp. 8770 - 8781, Jun. 2021 DOI: 10.1109/TITS.2021.3086033
  15. Qingrui Zhang∗ and Hugh H.T. Liu, “Robust nonlinear close formation control of multiple fixed-wing aircraft”, Journal of Guidance, Control, and Dynamics, Vol. 44, No. 3, pp. 572 - 586, DOI: 10.2514/1.G004592
  16. Huiliao Yang, Bin Jiang∗, Hugh H.T. Liu, Hao Yang, and Qingrui Zhang, “Attitude Synchronization for Multiple Three DOF Helicopters with Actuator Faults”, IEEE/ASME Transactions on Mechatronics, Vol. 24, No. 2, pp. 597 - 608, Apr. 2019. DOI: 10.1109/TMECH.2019.2895222
  17. Qingrui Zhang and Hugh H.T. Liu∗, “UDE-Based Robust Command Filtered Backstepping Control for Close Formation Flight”, IEEE Transactions on Industrial Electronics, Vol. 65, No. 11, pp. 8818 - 8827, Nov. 2018. DOI: 10.1109/TIE.2018.2811367
  18. Bo Zhu, Qingrui Zhang and Hugh H.T. Liu∗, “Design and Experimental Evaluation of Robust Motion Synchronization Control for Multi-vehicle System without Velocity Measurements”, International Journal of Robust and Nonlinear Control, Vol. 28, No. 17, pp. 5437 - 5463, Nov. 2018. DOI: 10.1002/rnc.4323.
  19. Qingrui Zhang and Hugh H.T. Liu∗, “Aerodynamic Model-Based Robust Adaptive Close Formation Flight Control”, Aerospace Science and Technology, Vol. 79, pp. 5–16, May 2018. DOI: 10.1016/j.ast.2018.05.029
  20. Pin Lyu, Jizhou Lai∗, Hugh H.T. Liu, Jianye Liu, and Qingrui Zhang, “A Thrust Model Aided Altitude Estimation Method for Quadrotor”, IEEE Transactions on Aerospace and Electronic Systems, Vol. 54, No. 2, pp. 1008 - 1019, Apr. 2018. DOI: 10.1109/TAES.2017.2773262
  21. Qingrui Zhang and Hugh H.T. Liu∗, “Aerodynamics Modeling and Control of Close Formation Flight”, Journal of Aircraft, Vol. 54, No. 6, pp. 2192–2204, Nov. 2017. DOI: 10.2514/1.C034271
  22. Yanzheng Zhu, Qingrui Zhang, Zuolong Wei, and Lixian Zhang∗, “Robust Stability Analysis of Markov Jump Standard Genetic Regulatory Networks With Mixed Time Delays and Uncertainties”, Neurocomputing, Vol. 110, No. 13, pp. 44 - 50, Jun. 2013. DOI: 10.1016/j.neucom.2012.09.033

会议论文（*通讯作者）

  1. Xinyu Zhang, Zhiyuan Xiao, Qingrui Zhang∗, and Wei Pan, “SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion”, in Proc. of the 63rd IEEE Conference on Decision and Control (CDC), Milan, Italy, Dec., 2024.
  2. Zhiyuan Xiao, Xinyu Zhang, Xiang Zhou, and Qingrui Zhang∗, “PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots”, in Proc. of the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi ,UAE, Oct., 2024.
  3. Chenghao Yu, Dengyu Zhang, and Qingrui Zhang∗, “GRF-based Predictive Flocking Control with Dynamic Pattern Formation”, in Proc. of the 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May, 2024.
  4. Xueming Liu, Kunda Liu, Tianjiang Hu, and Qingrui Zhang∗, “Formation Control for Moving Target Enclosing via Relative Localization”, in Proc. of the 62nd IEEE Conference on Decision and Control (CDC), Singapore, Singapore, Dec., 2024.
  5. Te Zhang, Shiyao Li, Bo Zhu∗, Qingrui Zhang, and Tianjiang Hu, “Robust Control Based on a Time-varying UDE for an Under-actuated 3-DOF Helicopter”, IFAC-PapersOnLine, Vol. 56, No. 2, pp. 4557 - 4562, Dec. 2023.
  6. Te Zhang, Lei Zhang, Bo Zhu∗, and Qingrui Zhang, “UDE-PLC: Uncertainty and Disturbance Estimator with Phase-lead Compensation”, in Proc. of the 2023 IEEE American Control Conference (ACC), San Diego, CA, USA, Jul., 2023.
  7. Guobin Zhu, Shanwei Fan, and Qingrui Zhang∗, “Distributed Flocking Control of Aerial Vehicles Based on a Markov Random Field”, in Proc. of the 2nd Conference on Fully Actuated System Theory and Applications (CFASTA), Qingdao, China.
  8. Dengyu Zhang, Guobin Zhu, and Qingrui Zhang∗, “Multi-Robot Motion Planning: A Learning-Based Artificial Potential Field Solution”, in Proc. of the 2nd Conference on Fully Actuated System Theory and Applications (CFASTA), Qingdao, China.
  9. Dengyu Zhang, Xinyu Zhang, Zheng Zhang, Bo Zhu, and Qingrui Zhang∗, “Reinforced Potential Field for Multi-Robot Motion Planning in Cluttered Environments”, in Proc. of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, Oct., 2023.
  10. Zheng Zhang, Xiaohan Wang, Qingrui Zhang, and Tianjiang Hu∗, “Multi-robot Cooperative Pursuit via Potential Field-Enhanced Reinforcement Learning”, in Proc. of the 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, May, 2022.
  11. Qingrui Zhang∗, Xinyu Zhang, Bo Zhu, and Vasso Reppa, “Fault tolerant control for autonomous surface vehicles via model reference reinforcement learning”, in Proc. of the 60th IEEE Conference on Decision and Control (CDC), Austin, TX, USA, Dec., 2021.
  12. Yujie Tang, Liang Hu∗, Qingrui Zhang, and Wei Pan, “Reinforcement learning compensated extended Kalman filter for attitude estimation”, in Proc. of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, Oct., 2021.
  13. Qingrui Zhang∗, Wei Pan, and Vasso Reppa, “Model-Reference Reinforcement Learning Control of Autonomous Surface Vehicles”, in Proc. of the 59th IEEE Conference on Decision and Control (CDC), Jeju Island, South Korea, Dec., 2020.
  14. Qingrui Zhang∗ and Hugh H.T. Liu, “Prescribed Performance Constrained Nonlinear Robust Control for Close Formation Flight”, in Proc. of the 14th IEEE International Conference on Control and Automation, Anchorage, Alaska, USA, Jun., 2018.
  15. Qingrui Zhang∗ and Hugh H.T. Liu, “Robust Cooperative Close Formation Flight Control of Multiple Unmanned Aerial Vehicles”, in Proc. of the Canadian Society for Mechanical Engineering International Congress 2018, Toronto, ON, Canada, May, 2018.
  16. Qingrui Zhang∗ and Hugh H.T. Liu, “Integrator-Augmented Robust Adaptive Control Design for Close Formation Flight”, in Proc. of AIAA Guidance, Navigation, and Control Conference, Grapevine, TX, USA, Jan. 2017, AIAA 2017–1255.
  17. Qingrui Zhang∗ and Hugh H.T. Liu, “Robust Design of Close Formation Flight Control via Uncertainty and Disturbance Estimator”, in Proc. of AIAA Guidance, Navigation, and Control Conference, San Diego, CA, USA, Jan. 2016, AIAA 2016–2102.
  18. Bo Zhu∗, Qingrui Zhang, and Hugh H.T. Liu, “A Comparative Study of Robust Attitude Synchronization Controllers for Multiple 3-DOF Helicopters”, in Proc. of IEEE American Control Conference (ACC), pp. 5960–5965, Chicago, IL, USA, Jul. 2015.
  19. Qiugang Lu, Lixian Zhang∗, Qingrui Zhang, and Hamid Reza Karimi, “Stability Analysis and Controller Design for a Class of T-S Fuzzy Markov Jump System with Uncertain Expectation of Packet Dropouts”, in Proc. of IEEE American Control Conference (ACC), pp. 6400–6405, Washington, DC, USA, Jun. 2013.

专利授权

[1]张清瑞，熊培轩，张雷，朱波，胡天江.一种基于模型参考强化学习的无人船容错控制方法.专利号： 202111631716.8[P]. 2023.09.11，授权.

授课情况

  • 自动控制原理（本科必修课，航空航天工程，春季学期）
  • 无人机控制技术与仿真（本科选修课，航空航天工程，春季学期）
  • 科研创新训练课（本科必修课，航空航天工程，春秋学期）
  • 现代控制理论基础（研究生核心基础课程，秋季学期）

学生培养情况

在读学生

【2023级硕士生】章登宇（19级中大本科）|  于程浩（19级中大本科）

【2024级硕士生】周   详（20级中大本科）|  薛    锋（20级中大本科）|  李    林（20级南农本科）

【2025级硕士生】黄   睿（21级中大本科）|  王馨桐（21级中大本科）

已毕业学生

【2025年毕业生】张鑫钰（22级硕士，优必选科技）

【2024年毕业生】刘赟韵（21级硕士，中广核）|  刘坤达（21级硕士，光明实验室）

另有其他多名本科毕业生或实习生已去中科院、北京航空航天大学读博深造。

个人荣誉

  • GN Patterson Student Award (2019年多伦多大学航空航天研究所最佳博士论文奖，1人/每年)

学术服务

  • Biomimetic Intelligence and Robotics（BIRob）青年编委会委员
  • 会员：AIAA，IEEE.
  • 审稿人（期刊）：Aerospace Science and Technology, Journal of Guidance, Control, and Dynamics; IEEE Transactions on Robotics; Aerospace Science and Technology; IEEE Transactions on Systems, Man, and Cybernetics - Systems等。
  • 审稿人（会议）：International Conference on Intelligent Robots and Systems (IROS); IEEE Conference on Robot Learning (CoRL); IEEE Conference on Decision and Control (CDC); IEEE American Control Conference (ACC); IEEE International Conference on Robotics and Automation (ICRA)等