刘海涛

机械工程学院教授、博士生导师 

个人简介

刘海涛，男，1981年出生，籍贯：山东菏泽，博士，教授，博士生导师。广东省高等学校优秀青年教师，广东省“千百十”校级培养对象，广东海洋大学南海杰出学者，中国机械工程学会机器人分会第一届委员会委员，中国机械工程学会高级会员，中国自动化学会第九届青年工作委员会委员，中国热带作物学会机械应用专业委员副主任委员，广东省本科高校机械基础课程教学指导委员会委员，广东造船工程学会专家库技术系列专家。担任国际学术刊物《IEEE Transactions on Industrial Electronics》、《International Journal of Robust and Nonlinear Control》、《Robotics and Computer-Integrated Manufacturing》、《ISA Transactions》等审稿人，2015年11月至2016年12月在美国密歇根州立大学访问留学。主要研究方向包括：机器人技术、多机器人系统及控制、无人船及水下机器人控制等；以第1作者或通讯作者发表论文40余篇，其中SCI收录28篇（SCI一区2篇，二区18篇），EI收录5篇，授权发明专利3项，实用新型8项，软件著作权3项。主持科研项目8项，其中省部级以上项目3项，市厅级项目4项。

教育背景

2000/09 – 2004/06, 广东海洋大学，机械设计制造及其自动化，本科

2007/09 – 2012/06，华南理工大学，机械设计及理论，博士

研究工作经历

2012/07 – 至今，广东海洋大学，机械与动力工程学院机械系，讲师、副教授、教授

2015/11 –2016/12, 密歇根州立大学，电气与计算机工程系，访问学者，导师：Hassan Khalil 教授

联系方式

Email: gdliuht@126.com  

个人主页：https://www.researchgate.net/profile/Haitao_Liu11

已发表的主要论文：

[1] Liu Haitao, Qi Zhenghong, Yuan Jianbin, Tian Xuehong. Robust fixed-time H∞ tracking control of UUVs with partial and full state constraints and prescribed performance under input saturation [J]. Ocean Engineering, 2023, 283:115023. .(SCI二区, Top)

[2] Liu Haitao, Huang Xiuying, Mai Qingqun, Tian Xuehong. Fixed-time self-structuring neural network fault-tolerant tracking control of underactuated surface vessels with state constraints [J]. Ocean Engineering, 2023, 279:114599. (SCI二区, Top)

[3] Liu Haitao, Li Yongzhuo, Tian Xuehong, Mai Qingqun. Event-triggered predefined-time H_∞ formation control for multiple underactuated surface vessels with error constraints and input quantization [J]. Ocean Engineering, 2023, 277:114294. (SCI二区, Top)

[4] Liu Haitao, Lin Jianfei, Li Ronghui, Tian Xuehong, Mai Qingqun. Event-triggered fixed-time adaptive neural formation control for underactuated ASVs with connectivity constraints and prescribed performance [J]. Neural Computing and Applications, 2023, 35(18): 13485-13501. (SCI二区)

[5] Liu Haitao, Zhuo Jiaoyang, Tian Xuehong, Mai Qingqun. Finite-time self-structuring neural network trajectory tracking control of underactuated autonomous underwater vehicles [J]. Ocean Engineering, 2023, 268:113450. (SCI二区, Top)

[6] Liu Haitao, Weng Peijun, Tian Xuehong, Mai Qingqun. Distributed adaptive fixed-time formation control for UAV-USV heterogeneous multi-agent systems [J]. Ocean Engineering, 2023, 267:113240. (SCI二区,Top)

[7] Liu Haitao, Sun Ning*, Ren Gang. Finite-time fast nonsingular terminal sliding mode path-following control for underactuated marine surface vehicles with input saturation [J]. Ocean Engineering, 2022, 262:112327. (SCI二区)

[8] Wang Zhicheng, Tian Xuehong*, Mai Qingqun, Liu Haitao. Fixed-time composite robust H∞ tracking control of marine surface vessels based on the barrier Lyapunov function and an event-triggered strategy [J]. Ocean Engineering, 2022, 261:112113. (SCI二区)

[9] Jianfei Lin, Haitao Liu*, Xuehong Tian. Neural network-based prescribed performance adaptive finite-time formation control of multiple underactuated surface vessels with collision avoidance [J]. Journal of the Franklin Institute, 2022, 359(11): 5174-5205. (SCI二区)

[10] Haitao Liu, Xin Huang*, Xuehong Tian, Jianbin Yuan. Fixed-time self-structuring neural network cooperative tracking control of multi-robot systems with actuator faults [J]. International Journal of Robust and Nonlinear Control, https://doi.org/10.1002/rnc.6312(SCI二区)

[11] Liu Haitao, Wang Zhicheng*, Tian Xuehong. Robust adaptive self-structuring neural networks tracking control of unmanned surface vessels with uncertainties and time-varying disturbances [J]. International Journal of Robust and Nonlinear Control, 2022, https://doi.org/10.1002/rnc.5970. (SCI二区)

[12] Liu Haitao, Du Guangshuo*, Tian Xuehong, Zou Lanping. Distributed robust tracking control for multiple Euler–Lagrange systems with full-state constraints and input saturation using an event-triggered scheme [J]. International Journal of Robust and Nonlinear Control , 2022, 32(2): 807-829. (SCI二区)

[13] Tian Xuehong, Wang Zhicheng*, Yuan Jianbin and Liu Haitao.  Robust Fixed-Time H_∞ Trajectory Tracking Control for Marine Surface Vessels Based on a Self-Structuring Neural Network[J]. Computational Intelligence and Neuroscience, 2022: 6515773. (SCI三区)

[14] Liu Haitao, Lin Jianfei*, Yu Guoyan, Yuan Jianbin. Robust Adaptive Self-Structuring Neural Network Bounded Target Tracking Control of Underactuated Surface Vessels [J]. Computational Intelligence and Neuroscience, 2021, 2021:2010493. (SCI三区)

[15] Liu Haitao, Li Yongzhuo*, Tian Xuehong. Practical Finite-Time Event-Triggered Trajectory Tracking Control for Underactuated Surface Vessels With Error Constraints [J]. IEEE Access, 2022, 10:43787-43798. (SCI三区)

[16] Liu Haitao, Meng Bingxin, Tian Xuehong. Finite-Time Prescribed Performance Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles Based on a Tan-Type Barrier Lyapunov Function [J]. IEEE Access, 2022, 10:53664-53675.

[17] Chen Guangjun, Tian Xuehong, Liu Haitao*. Robust trajectory tracking control of a marine surface vessel using asymmetric error constraints and output feedback [J]. International Journal of Robust and Nonlinear Control, 2020, 30(18): 8545-8563. (SCI二区)

[18] Liu Haitao, Chen Guangjun*, Tian Xuehong. Cooperative formation control for multiple surface vessels based on barrier Lyapunov function and self-structuring neural networks [J]. Ocean Engineering, 2020, 216:108163. (SCI一区)

[19] Liu Haitao, Chen Guangjun*. Robust trajectory tracking control of marine surface vessels with uncertain disturbances and input saturations [J]. Nonlinear Dynamics, 2020, 100(4): 3513-3528. (SCI二区)

[20] Liu Haitao, Sun Jian*, Nie Jianhao, Zou Lanping. Observer-based adaptive second-order non-singular fast terminal sliding mode controller for robotic manipulators [J]. Asian Journal of  Control, 2020.（SCI四区）

[21] Liu Haitao, Nie Jianhao, Sun Jian, Tian Xuehong*. Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers [J]. Journal of Control Science and Engineering, 2020, 2020:4048507. (EI)

[22] Liu Haitao*, Tian Xuehong, Wang Gui and Zhang Tie. Finite-Time H∞ Control for High-Precision Tracking in Robotic Manipulators Using Backstepping Control [J]. IEEE Transactions on Industrial Electronics, 2016, 63(9): 5501-5513. (SCI一区)

[23] Liu Haitao, and Hassan K. Khalil*. Output feedback stabilization using super-twisting control and high-gain observer [J]. International Journal of Robust and Nonlinear Control. 2019, 29(3): 601-617. (SCI二区)

[24] Liu Haitao*, Zhang Tie and Tian Xuehong. Continuous output-feedback finite-time control for a class of second-order nonlinear systems with disturbances [J]. International Journal of Robust and Nonlinear Control, 2016, 26(2): 218-234. (SCI二区)

[25] Tian Xuehong, Liu Hanlao, Liu Haitao*. Robust finite-time consensus control for multi-agent systems with disturbances and unknown velocities [J]. ISA Transactions. 2018, 80: 73-80. (SCI二区)

[26] Liu Haitao, Tian Xuehong , Wang Gui* , Zhang Tie. Robust  H¥ finite-time stability control of a class of nonlinear systems [J], Applied Mathematical Modelling, 2016, 40(7–8): 5111-5122. (SCI二区)

[27] Liu Haitao* and Zhang Tie. Adaptive Neural Network Finite-Time Control for Uncertain Robotic Manipulators[J]. Journal of Intelligent & Robotic Systems, 2014, 75(3-4): 363-377. (SCI四区)

[28] Liu Haitao*, Wang Xiaozhen, and Zhang Tie. Robust finite-time stability control of a class of high-order uncertain nonlinear systems[J]. Asian Journal of Control, 2015, 17(3): 1081-1087. (SCI四区)

[29] 刘海涛*,田雪虹,俞国燕,王贵,刘焕牢等. 一类不确定非线性系统的有限时间输出调节方法[J]. 电机与控制学报, 2017, 21(10): 108-115. (EI)

[30] 刘海涛, 田雪虹, 王贵. 高性能欠驱动水面机器人的有限时间跟踪控制 [J]. 应用科学学报, 2016, 34(02): 203-214.(CSCD)

[31] 刘海涛, 王贵, 刘焕牢. SCI论文和发明专利驱动的研究生创新能力培养模式研究 [J]. 工业和信息化教育, 2019, 06): 16-19+23.

[32] Chen Guangjun, Tian Xuehong*, Liu Haitao. Adaptive Neural Network Control of a Marine Surface Vessel with Output Constrains [C]. Proceedings of the 2020 35th Youth Academic Annual Conference of Chinese Association of Automation (YAC), 2020: 83-88.

[33] Lin Jianfei, Tian Xuehong, Wang Zhicheng, Liu Haitao. Nonsingular fast terminal sliding mode trajectory tracking control of surface vessel with disturbances [C]. Proceedings of the 2020 Chinese Automation Congress (CAC), 2020: 2091-2096.

[34] Du Guangshuo, Liu Haitao, Tian Xuehong*. High-precision position predictive control of mobile robot based on LSTM algorithm [C]. Proceedings of the 2020 Chinese Automation Congress (CAC), 2020: 3798-3803.

[35] Liu Haitao, Zou Lanping. Robust Finite-time Convergent Trajectory Tracking Control for Unmanned Surface Vehicle [C]. Proceedings of the 2019 Chinese Automation Congress (CAC), 2019: 4124-4129.

[36] Chen Guangjun, Liu Haitao. Leader-follower cooperative control of multiple marine surface vehicles with unknown disturbances [C]. Proceedings of the 2019 Chinese Automation Congress (CAC), 2019: 5743-5748.

[37] Liu Haitao, Sun Jian, Nie Jianhao, Chen Guangjun, Zou Lanping. Adaptive non-singular terminal sliding mode control with high-gain observers for robotic manipulators [C]. Proceedings of the 2019 Chinese Control And Decision Conference (CCDC), 2019: 3547-3552.

[38] Liu Haitao, Nie Jianhao, Sun Jian, Chen Guangjun, Zou Lanping. Adaptive sliding Mode Control for Nonholonomic Mobile Robots based on Neural Networks [C]. Proceedings of the 2019 Chinese Control And Decision Conference (CCDC), 2019: 5573-5578.

[39] 刘海涛.创新创业背景下机器人技术课程的教学改革研究[J].装备制造技术,2020(06):155-157.

[40] 刘海涛.工程教育专业认证下机械设计制造及其自动化专业毕业设计改革研究[J].中国教育技术装备,2021(08):90-92.

[41] 黄秀颖,刘海涛,田雪虹.基于输入饱和的欠驱动水面舰艇预定义时间跟踪控制[J/OL].中国舰船研究:1-15[2023-05-27].https://doi.org/10.19693/j.issn.1673-3185.03169.

专利与软著：

[1] 刘海涛;卓娇阳;田雪虹;麦青群; 一种欠驱动水下机器人鲁棒轨迹跟踪控制方法,2023-08-29, 中国，ZL202211607853.2（发明专利）

[2] 刘海涛;祁正鸿;田雪虹;麦青群;翁宸宇； 一种新型水下滑翔机器人, 2023-03-24，中国，ZL202210978964.8（发明专利）

[3] 刘海涛;王志成;田雪虹;李永卓. 基于固定时间H_∞控制的水面无人艇轨迹快速跟踪控制方法, 2022-08-02，中国，ZL202111514616.7（发明专利）

[4] 刘海涛; 王贵;俞国燕; 王宇林; 基于PC+FPGA的带速度观测器的有限时间稳定性控制系统，2017-04-05,中国，ZL201410443466.9（发明专利）

[5] 一种高速冲压长悬臂模块化上下料直角坐标机器人装置，2014年，中国，实用新型专利号：ZL201420281809.1；

[6] 一种煲胆滚压上下料机械手，2015年，中国，实用新型专利号：ZL201420497967.0；

[7] 一种滚筒式牡蛎壳清洗装置,2015,中国，实用新型专利号：ZL201420548084.8；

[8] 一种立体式停车库，2019，中国，实用新型专利号：ZL201820711679.9；

[9] 一种锅胆自动整形机器人装置，2019，中国，实用新型专利号：ZL201920505551.1；

[10] 给料机器人控制系统，2017，中国，计算机软件著作权，登记号：2017SR608413；

[11] 仿生鱼控制系统（软件著作权）,2019,中国，计算机软件著作权，登记号：2019SR0701286；

[12] 智能药盒健康系统（软件著作权），2020，中国，计算机软件著作权，登记号：2020SR0010549。

[13] 一种船舶除锈机器人的除锈及污水回收装置，2021，中国，实用新型专利号： ZL202120725339.3

[14] 一种深海全向机器人, 2022, 中国，实用新型专利号：ZL202122425282.8

[15] 一种风帆助力无人监测平台, 2022, 中国，实用新型专利号：ZL202122832714.7

主持项目：

[1] 无人艇集群分布式智能协同控制研究( 编号：2021ZDZX1041，经费：30万元)，2021年度广东省普通高校重点领域专项（新一代信息技术）,起止日期：2021.9-2024.8

[2] 多机器人系统的分布式鲁棒H∞有限时间一致性研究 (编号：2018A0303130076，经费：10万), 广东省自然科学基金项目，起止日期：2018.5-2021.4.

[3] 基于有限时间稳定性理论的鲁棒输出调节及应用研究（编号：2015A030310307，经费：10万），广东省自然科学基金项目，起止年月：2015.8.1-2018.8.1. 已结题

[4] 面向电饭锅行业的智能整形机器人研发 (编号：2017A02025, ，经费：10万), 湛江市科技攻关项目，起止日期：2018.1.1~2019.12.31. 已结题

[5] 分布式有限时间输出调节控制及其在多无人船系统中的应用（编号：231419019. 经费：60万）， 2019年“冲一流”省财政专项资金建设项目，起止日期：2019.5-2022.5。

[6] SCI论文驱动的研究生创新能力培养模式研究 （编号：201821，经费：0.8万），广东海洋大学研究生教改课题，起止日期：2018.07-2019.07.已结题

[7] 《智能制造2025》背景下机器人技术课程教学改革研究（编号：570219059，经费：1万），广东海洋大学本科教改课题，起止日期：2019.5-2020.5.

获奖情况

[1] 菠萝皮渣/秸秆优质青贮利用技术及设备示范推广；广东省农业技术推广奖，二等奖，2022，（薛晓宁，罗光民，郑英豪，俞国燕，刘焕牢，王小新，刘海涛，郭海山，胡勇，钟凌，冯清华，陈居调，万江虹，邓洪芳。）