教育与工作经历

2017.7-至今 yl34511线路中心 yl34511线路中心 特别副研究员，博士生导师

2013.9-2017.6 yl34511线路中心 yl34511线路中心 控制科学与工程 博士

 

研究方向

1.机器人智能感知、优化控制与应用（人机协作、智慧医疗等）

2.网络化系统分析、控制与应用

近5年承担的科研项目

1.云端赋能机器人高性能多约束控制理论与关键技术研究，2022.01-2025.12，国家自然科学基金面上项目

2.人机协作环境下网络化机器人高性能控制关键技术研究，2019.01-2021.12，国家自然科学基金青年科学基金项目

3.xxxxx规划方法研究，2022.01-2022.12，航天一院科技合作项目

4.工业场景下机器视觉算法研究服务，2021.03-2022.03，中国联通研究院技术开发项目

5.面向装配任务的空间机械臂控制系统研究，2022.01-2023.12，空间驱动与操控机构专业实验室开放基金项目

6.多约束下编队卫星自主任务规划及协同控制研究，2019.01-2020.12，空间智能控制技术国防科技重点实验室开放基金项目

7.可穿戴设备在帕金森病慢病管理中的应用，2018.01-2020.12，北京自然科学基金重点研究专题

8.脊柱微创手术网络化遥操作机器人的基础问题与关键技术，2016.01-2019.12，北京市自然科学基金重点项目

代表性学术论文

发表论文50余篇，包含IEEE TAC、Automatica、IEEE TIE、IEEE TCYB、IEEE TNNLS、IEEE TFS、IEEE TSMC: Systems等SCI期刊论文30余篇。

[1].S. Yu, D. H. Zhai*, Y. Q. Xia, et al., “SE-ResUNet: A Novel Robotic Grasp Detection Method,” IEEE Robotics and Automation Letters, 2022, DOI: 10.1109/LRA.2022.3145064.

[2].D. H. Zhai*, Y. Q. Xia, “Initial configurations-independent predefined performance control of robotic manipulator with input saturation,” International Journal of Robust and Nonlinear Control, 2022, DOI: 10.1002/rnc.6008.

[3].K. Wang, D. H. Zhai*, Y. H. Xiong, et al., “An MVMD-CCA recognition algorithm in SSVEP-based BCI and its application in robot control,” IEEE Transactions on Neural Networks and Learning Systems, 2021, DOI: 10.1109/TNNLS.2021.3135696.

[4].W. Z. Lyu, D. H. Zhai*, Y. H. Xiong, et al., “Predefined performance adaptive control of robotic manipulators with dynamic uncertainties and input saturation constraints,” Journal of the Franklin Institute, vol.358, no.14, pp.7142-7169, 2021.

[5].D. H. Zhai*, Y. Q. Xia, “A prescribed‐performance‐like control for improving tracking performance of networked robots,” International Journal of Robust and Nonlinear Control, vol.31, no.7, pp. 2546-2571, 2021.

[6].D. D. Yu, Y. Q. Xia, L. Li, D. H. Zhai*, “Event-triggered distributed state estimation over wireless sensor networks,” Automatica, vol.118, pp.1-10(109039), 2020. (Regular Paper)

[7].L. Dai, Y. T. Yu, D. H. Zhai*, et al., “Robust model predictive tracking control for robot manipulators with disturbances,” IEEE Transactions on Industrial Electronics, vol.68, no.5, pp.4288-4297, 2020.

[8].D. H. Zhai, Y. Q. Xia, “Multilateral tele-coordinated control of multiple robots with uncertain kinematics,” IEEE Transactions on Neural Networks and Learning Systems, vol.29, no.7, pp. 2808-2822, 2018.

[9].D. H. Zhai, Y. Q. Xia, “A novel switching-based control framework for improved task performance in teleoperation system with asymmetric time-varying delays,” IEEE Transactions on Cybernetics, vol.48, no.2, pp.625-638, 2018.

[10].D. H. Zhai, Y. Q. Xia, “Adaptive control of semi-autonomous teleoperation system with asymmetric time-varying delays and input uncertainties,” IEEE Transactions on Cybernetics, vol.47, no.11, pp.3621-3633, 2017.

[11].D. H. Zhai, Y. Q. Xia, “Finite-time control of teleoperation systems in the presence of input saturation and varying time delays,” IEEE Transactions on Systems, Man and Cybernetics: Systems, vol.47, no.7, pp.1522-1534, 2017.

[12].D. H. Zhai, Y. Q. Xia, “Adaptive control for teleoperation system with varying time-delays and input saturation constraints,” IEEE Transactions on Industrial Electronics, vol.63, no.11, pp.6921-6929, November 2016.

[13].D. H. Zhai, Y. Q. Xia, “Adaptive fuzzy control of multilateral asymmetric teleoperation for coordinated multiple mobile manipulators,” IEEE Transactions on Fuzzy Systems, vol.24, no.1, pp.57-70, 2016.

[14].Y. Kang, D. H. Zhai, G. P. Liu, Y. B. Zhao, “On input-to-state stability of switched stochastic nonlinear systems under extended asynchronous switching,” IEEE Transactions on Cybernetics, vol.46, no.5, pp.1092-1105, 2016.

[15].Y. Kang, D. H. Zhai, G. P. Liu, Y. B. Zhao, P. Zhao, “Stability analysis of a class of hybrid stochastic retarded systems under asynchronous switching,” IEEE Transactions on Automatic Control, vol.59, no.6, pp.1511-1523, 2014. (Regular Paper)

授权国家发明专利及出版专著

专利

1.翟弟华，夏志强，等. 基于DMPs和修正避障算法的机器人运动规划方法. ZL202010443890.9.

专著

1.翟弟华，夏元清，复杂外部环境下网络化遥操作机器人控制，yl34511线路中心出版社，2019.

科研获奖

1.吴文俊人工智能自然科学二等奖（2/5）

2.中国指挥与控制学会优秀博士学位论文

3.中国电机工程学会青年人才托举工程

4.中国自动化学会青年学术年会最佳理论论文奖（1/5）

讲授课程、出版教材及教学成果

讲授课程

控制科学基本原理与应用I 48学时 本科生贯通型专业课

出版教材

教学成果

学术兼职