个人资料：
姓名：窦立谦
职称：教授/博士生导师
学科专业：控制科学与工程，控制理论与控制工程
通讯地址：天津大学电气自动化与信息工程学院26教学楼E区628室
电子信箱： douliqian@tju.edu.cn
主要经历：
(1) 2024.07-至今 天津大学电气自动化与信息工程学院，控制理论与控制工程，教授，博士生导师
(2) 2011.07-2024.06 天津大学电气自动化与信息工程学院，控制理论与控制工程，副教授
(3) 2016.05-2017.05 英国曼彻斯特大学电气与电子工程学院，国家公派访问学者
(4) 2008.03-2011.06 天津大学电气与自动化工程学院，控制理论与控制工程，讲师
(5) 2002.09-2008.03 天津大学电气与自动化工程学院，控制理论与控制工程，硕士、博士
(6) 1999.09-2002.07 天津电力公司 助理工程师
(7) 1995.09-1999.07 天津大学电气与自动化工程学院，工业自动化专业，本科
主要研究方向：
(1) 高超声速飞行器建模与控制
(2) 无人系统自主规划
(3) 多无人机自主通信与协同控制
(4) 智能控制方法
主要科研项目：
(1) 2024.01~2027.12国家自然科学基金，62373268，“面向突防的高超声速飞行器多机多向协同控制策略”项目负责人
(2) 2019.01~2022.12国家自然科学基金，61873340，“面向机动飞行的变进气道高超声速飞行器协调控制策略”项目负责人
(3) 2019.01~2020.12国防科技重点实验室基金，“基于深度迁移学习的故障诊断与容错控制研究”项目负责人
(4) 2018.01~2019.12教育部联合基金，“无人蜂群自主通信与智能自主协同控制技术”，项目负责人
(5) 2017.10~2019.09航空基金，“高超声速飞行器自适应协调控制策略研究”，项目负责人
代表性论著、学术著作：
学术论文：
(1) Hui Yu, Liqian Dou, Xiuyun Zhang, Jinna Li, Qun Zong. Safe Reinforcement Learning: Optimal Formation Control With Collision Avoidance of Multiple Satellite Systems. IEEE Transactions on Cybernetics, 2025, 55(1):447-459.
(2) Liu Da， Dou Liqian， Zhang, Ruilong， Zhang Xiuyun，Zong, Qun. Multi-Agent Reinforcement Learning-Based Coordinated Dynamic Task Allocation for Heterogenous UAVs. IEEE Transactions on Vehicular Technology, 2023, 72(4):4372-4383.
(3) Tang Yifan. Dou Liqian, Zhang Ruilong, Zhang Xiuyun, Cai Siyuan. Adaptive dynamic programming based fault tolerant control of multi-UAV formation system. Transactions of the Institute of Measurement and Control, 2024
(4) Da Liu; Qun Zong; Wenjing Liu; Liqian Dou; Enhancing Space-Based Situational Awareness: Real-Time Observation of Dynamic Targets With Meta-Cooperative-Scheduling Net, IEEE Transactions on aerospace and electronic systems, 2024, 60(6)：8198-8211.
(5) Liu Da; Zong Qun, Zhang Xiuyun, Zhang Ruilong, Dou Liqian. Game of Drones: Intelligent Online Decision Making of Multi-UAV Confrontation IEEE Transactions on Emerging Topics in Computational Intelligence, 2024, 8(2), 2086-2100.
(6) Zhang Ruilong, Zong Qun, Zhang Xiuyun, Dou Liqian, Tian, Bailing. Game of Drones: Multi-UAV Pursuit-Evasion Game with Online Motion Planning by Deep Reinforcement Learning.IEEE Transactions on Neural Networks and Learning System, 2023, 34(10), 7900-7909.
(7) Zhang Xiuyun, Zong Qun, Dou Liqian, Tian Bailing,Liu, Wenjing.Finite-Time Attitude Optimization Maneuver Control for Coupled Spacecraft Under Attitude Measurement Errors and Actuator Faults. IEEE Transactions on Systems Man Cybernetics-Systems, 2023, 53(5):3082-3091.
(8) Liqian Dou, Siyuan Cai, Xiuyun Zhang, Xiaotong Su. Event-triggered-based adaptive dynamic programming for distributed formation control of multi-UAV. Journal of The Franklin Institute- Engineering and Applied Mathematics, 2022, 359(8): 3671-3691.
(9) Dou Liqian, Li Yiqun; Du Miaomiao, Zhang Xiuyun. A composite controller design using an adaptive internal type-2 fuzzy logic system and the fixed-time disturbance observer for an air-breathing hypersonic vehicle with a variable geometry inlet. Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering，2022, 236(16): 3444-3456.
(10) Dou Liqian, Su Xiaotong, Zhao Xinyi, et al. Robust tracking control of quadrotor via on policy adaptive dynamic programming[J]. International Journal of Robust and Nonlinear Control, 2021. 31(7): 2509-2525.
(11) Zhang Xiuyun, Zong Qun, Dou Liqian, Zhang Ruilong, Tian Bailing. Finite-Time Distributed Attitude Synchronization for Multiple Spacecraft with Angular Velocity and Input Constraints. IEEE Transactions on Control Systems Technology. 2021, 30(4), 1612-1624.
(12) Zhang Ruilong, Zong Qun , Dou Liqian. Hybrid deep neural network using transfer learning for EEG motor imagery decoding[J]. Biomedical Signal Processing and Control, 2021, 63:102144.
(13) Zhu Wanwan, Zong Qun, Dou Liqian, et al. Finite‐time attitude tracking control and vibration suppression for flexible spacecraft[J]. International Journal of Robust and Nonlinear Control, 2021. 31(7): 2674-2689.
(14) Dou Liqian, Du Miaomiao, Mao Qi, et al. Finite-time nonsingular terminal sliding mode control-based fuzzy smooth-switching coordinate strategy for AHV-VGI[J]. Aerospace Science and Technology, 2020, 106, 106080, 1-11
(15) Qi Mao, Liqian Dou, Zhenshu Yang, Bailing Tian. Fuzzy disturbance observer-based adaptive sliding mode control for reusable launch vehicles with aeroservoelastic characteristic. IEEE Transactions on Industrial informatics, 2020, 16(2):1214-1223
(16) Xiuyun Zhang, Qun Zong, Liqian Dou, Wenjing Liu. Finite-time Attitude Maneuvering and Vibration Suppression of Flexible Spacecraft. Journal of The Franklin Institute- Engineering and Applied Mathematics, 2020, 357(16): 11604-11628.
(17) Xiuyun Zhang, Qun Zong, Liqian Dou, Wenjing Liu. Improved finite-time command filtered backstepping fault-tolerant control for flexible hypersonic vehicle. Journal of The Franklin Institute- Engineering and Applied Mathematics, 2020, 357(13): 8543-8565
(18) Dou Liqian, Yang Chuang, Wang Dandan, et al. Distributed finite‐time formation control for multiple quadrotors via local communications[J]. International Journal of Robust and Nonlinear Control, 2019,29(16): 5588-5608.
(19) Ruilong Zhang, Qun Zong, Liqian Dou.A novel hybrid deep learning scheme for four-class motor imagery classification, Journal of Neural Engineering, 2019,16(6):1-12
(20) Na Xing, Qun Zong, Liqian Dou, Bailing Tian and Qing Wang. A Game Theoretic Approach for Mobility Prediction Clustering in Unmanned Aerial Vehicle Networks[J], IEEE Transactions on Vehicular Technology, 2019,68(10):9963-9973.
(21) Qi Mao, Liqian Dou, Qun Zong and Zhengtao Ding. Attitude control design for reusable launch vehicles using adaptive fuzzy control with compensation controller [J].Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering，2019, 233(3): 823-836.
(22) Qi Mao, Liqian Dou, Qun Zong, Zhengtao Ding. Attitude controller design for reusable launch vehicles during reentry phase via compound adaptive fuzzy H-infinity control[J]. Aerospace Science &Technology, 2018, 72:36-48.
(23) Liqian Dou, Jingqi Gao, Qun Zong, Zhengtao Ding, Modeling and switching control of air-breathing hypersonic vehicle with variable geometry inlet，Journal of The Franklin Institute- Engineering and Applied Mathematics, 2018, 355(15): 6904-6926.
(24) Liqian Dou, Peihua Su, Qun Zong, Zhengtao Ding. Fuzzy disturbance observer-based dynamic surface control for air-breathing hypersonic vehicle with variable geometry inlets[J]. IET Control Theory & Applications, 2018, 12(1), 10-19.
(25) Qi Mao, Liqian Dou, Bailing Tian, Qun Zong. Reentry attitude control for a reusable launch vehicle with aeroservoelastic model using type-2 adaptive fuzzy sliding mode control. International Journal of Robust and Nonlinear Control, 2018, 28(18):5858–5875.
(26) Liqian Dou, Peihua Su, Zhengtao Ding. Modeling and nonlinear control for air-breathing hypersonic vehicle with variable geometry inlet[J]. Aerospace Science & Technology, 2017,67:422-432.
(27) Liqian Dou, Ran Ji, Jingqi Gao. Identification of nonlinear aeroelastic system using fuzzy wavelet neural network[J]. Neurocomputing,2016,214:935-943.
专利：
(5) 窦立谦; 霍新友; 戴威; 韩天瑞; 杨闯. 基于惯性/雷达的无人机自主定位与建图方法, ZL201910120481.2 (发明专利). 2021.7.6
(6) 窦立谦; 王永镇; 邢娜; 马秀俞; 董圣然. 基于地面机器人的协同搜索围堵方法, ZL201910097762.0 (发明专利). 2021.8.13
(7) 窦立谦; 杜苗苗; 毛奇; 苏晓彤；马秀俞. 基于EM-EKF算法的RLV再入段气动参数辨识方法. ZL2019110147424.3 (发明专利). 2022.5.3
(8) 窦立谦; 刘达; 张睿隆; 张哲宇. 面向动态环境的多无人机分布式智能任务分配方法, ZL202210329745.7 (发明专利). 2022.6.14
(9) 窦立谦; 唐艺璠; 蔡思渊; 张睿隆. 基于ADP和避障机制的四旋翼无人机编队重构控制系统, ZL202210329119.8 (发明专利). 2022.3.31
(10) 窦立谦；季春惠；张秀云；张睿隆；唐艺璠. 基于深度神经网络的航天器智能故障诊断方法. ZL202110958518.6 (发明专利). 2022.10.21
(11) 窦立谦；马秀俞；张睿隆；宗群；刘达. 基于长短期记忆网络的飞行器轨迹预测的方法, ZL202111170023.3 (发明专利). 2022.9.6
(12) 窦立谦; 唐艺璠; 马秀俞; 卢燕梅; 张睿隆. 飞行器攻击行为预测方法及电子设备, ZL202210255018.0 (发明专利). 2023.06.09
(13) 窦立谦; 张哲宇; 唐艺璠; 张睿隆; 蔡思渊. 基于联盟形成博弈的大规模无人机分布式任务分配方法ZL 202310021682.3 (发明专利). 2023.09.01
(14) 窦立谦; 于卉;张秀云; 唐艺璠; 张睿隆. 一种基于安全自适应动态规划的星群智能编队避碰控制方法, ZL 202310040189.6 (发明专利). 2023.09.26
(15) 窦立谦; 唐艺璠; 张秀云; 张睿隆. 一种无人飞行集群智能协同运动规划的方法. ZL 202310587479.2 (发明专利) 2024.03.08
(16) 窦立谦; 任梦圆; 张秀云; 唐艺璠; 张睿隆. 一种基于强化学习的飞行器自主规避决策方法. ZL 202310474890.9 (发明专利) 2024.03.26
主要讲授课程：
(1) 计算机控制理论与应用（本科生）
(2) 现代控制理论（本科生）
(3) 嵌入式系统（本科生）
主要学术成就、奖励及荣誉：
(1) 2023：天津市科学技术进步二等奖， 无人集群自主规划与协同控制技术及其应用
(2) 2012：天津市科学技术进步二等奖， 智能电梯系统核心控制装置的研制与产品开发
其他（社会兼职等）：
(1) 担任中国自动化学会会员
(2) 中国自动化无人飞行器自主控制专业委员会委员
