何树德 副教授、硕士生导师

学科领域：控制科学与工程、人工智能、海洋工程

电子邮箱: shude_he@gzhu.edu.cn

个人简介：

何树德，工学博士，副教授，第十届自动化学会青年工作委员会委员，第一、二届中国自动化学会人工智能与机器人教育专业委员会委员，Frontiers in Robotics and AI客座编辑，主要研究方向是水面机器人（无人艇）的智能自主高性能协同运动控制，在控制和海洋工程领域国内外主要学术刊物发表SCI收录的论文17篇，其中10篇IEEE汇刊，且4篇入选ESI高被引论文；获得授权发明专利2项，受理发明专利1项。参与国家自然科学基金3项，广东省自然科学基金2项，广东省重点研发计划1项。主持国家自然科学基金1项，粤穗联合基金-青年基金1项，中国博士后面上基金1项，教育部产学研协同育人项目1项，广州市基础与应用基础研究项目1项，广州市教育局高校科研项目1项，安徽省高端装备智能控制国际联合研究中心开放基金1项。

研究领域:

协同控制、学习控制、地面/水面/水下机器人控制研究

教育背景及职业经历:

◆2023.9至今    广州大学 副教授

◆2021.7-2023.8  广州大学 博士后

◆2015-2021  华南理工大学  控制科学与工程  博士

◆2011-2015  广东工业大学  自动化  学士

代表性科研项目:

[1] 国家自然科学基金青年基金项目，62403154，异构无人艇编队的动态学习控制与性能分析研究 

[2] 广东省基础与应用基础研究粤穗联合基金-青年基金，2023A1515110073，面向海洋观测的水面机器人集群协同学习控制研究

代表性学术论文:

[1]Shude He, Min Wang, Shi-Lu Dai and Fei Luo, “Leader-follower formation control of USVs with prescribed performance and collision avoidance,” IEEE Transactions on Industrial Informatics, vol. 15, no. 1, pp. 572-581, 2019. (ESI高被引)

[2]Shude He, Shi-Lu Dai, Zhijia Zhao, Tao Zou and Yufei Ma, “UDE-based distributed formation control for MSVs with collision avoidance and connectivity preservation,” IEEE Transactions on Industrial Informatics, vol. 20, no. 2, pp. 1476-1487, 2024.

[3]Shude He, Shi-Lu Dai and Fei Luo, “Asymptotic trajectory tracking control with guaranteed transient behavior for MSV with uncertain dynamics and external disturbances,” IEEE Transactions on Industrial Electronics, vol. 66, no. 5, pp. 3712-3720, 2019.

[4]Shude He, Shi-Lu Dai and Chao Dong, “Adaptive synchronization control of uncertain multiple USVs with prescribed performance and preserved connectivity,” SCIENCE CHINA Information Sciences, vol. 65, pp. 199201, 2022.

[5]Shude He, Chao Dong and Shi-Lu Dai, “Adaptive neural formation control for underactuated unmanned surface vehicles with collision and connectivity constraints,” Ocean Engineering, vol. 226, pp. 108834, 2021.

[6]Shude He, Chao Dong, Shi-Lu Dai and Tao Zou, “Cooperative deterministic learning and formation control for underactuated USVs with prescribed performance,” International Journal of Robust and Nonlinear Control, vol. 32, no. 5, pp. 2902-2924, 2022.

[7]Shude He, Shi-Lu Dai, Zhijia Zhao and Tao Zou, “Uncertainty and disturbance estimator-based distributed synchronization control for multiple marine surface vehicles with prescribed performance,” Ocean Engineering, vol. 261, pp. 111867, 2022.

[8]Shude He, Rourou Xu, Zhijia Zhao and Tao Zou, “Vision-based neural formation tracking control of multiple autonomous vehicles with visibility and performance constraints,” Neurocomputing, vol. 492, pp. 651-663, 2022.

[9]Xuejing Lan, Jiapei Yan, Shude He*, Zhijia Zhao and Tao Zou, “Distributed cooperative reinforcement learning for multi-agent system with collision avoidance,” International Journal of Robust and Nonlinear Control, Vol. 34, no. 1, PP. 567-585, 2024.

[10]Chao Dong, Bing Zheng, and Shude He*, “Adaptive formation control of nonholonomic multirobot systems with collision avoidance and connectivity maintenance,” International Journal of Systems Science, 2024, 55(11), 2289-2305.

[11]Haotian Shi^#, Shude He^#, Shi-Lu Dai, and Chao Dong, “Cooperative learning from neural formation control for uncertain marine surface vehicles with input saturation under switching topology,” IEEE Transactions on Transportation Electrification, 2024, DOI: 10.1109/TTE.2024.3400366.

[12]Shi-Lu Dai, Shude He, Hai Lin and Cong Wang, “Platoon formation control with prescribed performance guarantees for USVs,” IEEE Transactions on Industrial Electronics, vol. 65, no. 5, pp. 4237-4244, 2018. (ESI高被引)

[13]Shi-Lu Dai, Shude He, Min Wang and Chengzhi Yuan, “Adaptive neural control of underactuated surface vessels with prescribed performance guarantees,” IEEE Transactions on Neural Networks and Learning Systems, vol. 30, no. 12, pp. 3686-3698, 2019. (ESI高被引)

[14]Shi-Lu Dai, Shude He, Yufei Ma and Chengzhi Yuan, “Distributed cooperative learning control of uncertain multiagent systems with prescribed performance and preserved connectivity,” IEEE Transactions on Neural Networks and Learning Systems, vol. 32, no. 7, pp. 3217-3229, 2021.

[15]Shi-Lu Dai, Shude He, Yufei Ma and Chengzhi Yuan, “Cooperative learning-based formation control of autonomous marine surface vessels with prescribed performance,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 52, no. 4, pp. 2565-2577, 2022.

[16]Shi-Lu Dai, Shude He, He Cai and Chenguang Yang, “Adaptive leader-follower formation control of underactuated surface vehicles with guaranteed performance,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 52, no. 3, pp. 1997-2008, 2022. (ESI高被引)

[17]Shi-Lu Dai, Shude He, Xin Chen and Xu Jin, “Adaptive leader-follower formation control of nonholonomic mobile robots with prescribed transient and steady-state performance,” IEEE Transactions on Industrial Informatics, vol. 16, no. 6, pp. 3662-3671, 2020.

代表性专利及技术标准:

[1] 何树德, 林煜锴, 陈首彦, 赵志甲. 基于动态窗口法的移动机器人路径规划方法及装置. 中国发明专利, CN202310624368.4（受理）.

[2] 戴诗陆, 何树德, 方冲, 李烈军. 一种基于领导跟随结构的无人水面艇编队控制方法. 中国发明专利, ZL201710327797.X.

[3] 戴诗陆, 何树德, 方冲, 王敏. 一种满足预设跟踪性能的欠驱动水面船舶控制方法. 中国发明专利, ZL201710281426.2.

代表性鉴定及专著:

无

重点技术目录及代表性获奖:

[1] “睿抗机器人开发者大赛全国总决赛”魔力元宝竞赛二等奖（指导老师）。