Key Laboratory of Intelligent Control and Decision of Complex Systems

Beijing Institute of Technology

Email: **mathmhb[at]bit[dot]edu[dot]cn**

Born in Zhengzhou City, Henan Province, China, in 1978. Received B.Sc. from Zhengzhou University, China in 2001. Studied mathematics and control theory in the Key Laboratory of Systems and Control at Institute of Systems Science from 2001 to 2006, supervised by Professor Lei Guo. Obtained Ph.D from the Academy of Mathematics and Systems Science, Chinese Academy of Sciences in 2006. Joined Temasek Laboratories, National University of Singapore in August 2006.

Since August 2009, I have been a faculty member of School of Automation, Beijing Institute of Technology. Our group is in the Laboratory of Integrated Navigation and Intelligent Navigation, Institute of Navigation, Guidance and Control.

More info can be found in my **Curriculum Vitae** or **its enriched Chinese version**, whose password is taken from Chairman Mao's famous quotation "*GOOD GOOD STUDY, DAY DAY UP*":-)

My dissertation was focused on some problems on capability and limitation of feedback mechanism in dealing with uncertainties of some discrete-time control systems.

My researches center on control theory and complex systems, especially focus on problems related to stability and stabilization of discrete-time dynamical systems, as well as related algorithm design and analysis.

My previous work involved stochastic control systems, signal processing, adaptive estimation and control, (nonlinear) hybrid systems and dynamical networks. Various complexities or uncertainties of systems were main concern in my previous researches.

During my visit to Singapore, I was also interested in pursuit-evasion problems, which come from the background of guidance/interception, hide-and-seek games, etc. and have close connections with differential games, mobile robotics, computational geometry, decision theory and artificial intelligence.

Currently I am working in the **Changjiang Scholar Innovation Group** of Professor M. Y. Fu, in charge of a small group of teachers and students, focusing in the area of intelligent navigation. We are interested in academic research and engineering practice on unmanned ground vehicles equipped with technologies of intelligent navigation.

Most of my previous and current researches concern the big idea of **learning** or **adaptation** with *mathematical algorithms* and *computer techniques*,
hence you may see that I have made and I am making continous efforts in **cybernetics+mathematics+software+hardware**.
I hope to *make a difference* to this colorful world.
If you have some plausible or crazy or fantastic ideas,
you may discuss them with me for more inspirations.

2000, Award of "Top Ten Students" in Zhengzhou University

2001, Excellent Student Prize in Graduate School of Chinese Academy of Sciences

2003, President Prize in the Academy of Mathematics and Systems Science, Chinese Academy of Sciences

2008, Programme of 100 Talented Persons in Beijing Institute of Technology

2009,

*New Century Excellent Talents in University*, awarded by Ministry of Education, China2010, Famous Teacher in Beijing Institute of Technology

2011, the sole candidate of Huo Ying Dong Young Teacher Award for Higher Education in Beijing Institute of Technology

2012,

*The 13th Huo Ying Dong Young Teacher Award for Higher Education*2012，The 13th Excellent Education & Teaching Award of Beijing Institute of Technology

My teaching may be different from many other teachers. Many students have given me very positive feedbacks and helped me improve my courses further. I hope students in my courses can learn some essentially important things rather than only limited course knowledge.

All students taking my courses must visit http://10.106.2.170:9000/ in BIT campus to access my network teaching system and register on it so as to download coursewares, assignments and so on. And your solutions should be submitted to the course website for my review.

Course 20-081100-031-01:

**Kalman Filtering Theory and Applications**(Chinese), teaching*nonlinear filtering*, 8 hours, from 2010-05 to 2011-06, 6# Teaching Building - Meeting Room, Graduate Teaching Building - 106, 20+ Chinese students.Course 21-081100-102-06:

**Linear Systems Theory**, 54 hours, from 2010-10-11 to 2011-01-13, Graduate Teaching Building - 404, every Monday/Thursday evening, 19+ Chinese students, 2 foreign students.Course 20-081100-114-06:

**Kalman Filtering Theory and Applications**, 36 hours, from 2011-03-31 to 2011-06-16, Graduate Teaching Building - 204, every Thursday evening, 15+ Chinese students, 1 foreign studentsCourse 21-081100-102-06:

**Linear Systems Theory**, 54 hours, from 2011-09-19 to 2012-01-13, Graduate Teaching Building - 106, every Monday evening, 34+ Chinese students, 4 foreign studentsCourse 20-081100-114-06:

**Kalman Filtering Theory and Applications**, 36 hours, from 2012-03-26 to 2012-06-11, Graduate Teaching Building - 307, every Monday evening, 6+ Chinese students, 6 foreign studentsCourse 21-081100-102-06:

**Linear Systems Theory**, 54 hours, from 2012-09-25 to 2013-01-15, Graduate Teaching Building - 409, every Tuesday evening, 35+ Chinese students, 4 foreign students

Currently I have no direct teaching jobs for undergraduate students.

I have ever gave some lectures to undergraduate students in the school of automation.

And I am in charge of the **Experimental International Class Majoring in Automation** since 2011.

I am also in charge of a class majoring in *Electrical Engineering and Automation* since 2012.

I have supervised amount of students to attend various Contests of Mathematics/Mathematical Modelling, Innovation, and so on, some of which have won awards.

If you hope me to serve as your supervisor, please send to me your resume, scoresheet, and ideas. Here is my brief one-page self-introduction in Chinese.

Here is my talk to EICMA students, which may be useful for some students.

Here is my talk at the 2011 Graduation Ceremony, which may be valuable for everybody, especially for the fresh graduated students.

In my opinion, students and teachers should form a *closed loop* rather than an open loop.

If you want to be my students, you need to be responsible to yourself, others and your duties.

If you are serious to your duties, *by your dilligence, intelligence and interests*, I will be responsible to you.

I will try to give proper *feedbacks* upon your *outputs* for you to improve the closed-loop *performance*.

And many of my previous students give me very positive feedbacks and I am proud of their achievements.

**Do you want to join them?** If you are good at *mathematics* and/or *computer*, you may come to discuss with me:-)

Please cite my related work if possible. See a list of my Publications and its source file as well as my bib database file for your convenience. Please let me know your work if you have cited my work. My papers are available upon requests by emails.

To cite my work, you need only put the .bib file in the folder of your .tex file and add the commands
`\bibliography{mhb-pub2} \bibliographystyle{unsrt}`

to your .tex file, then you can use `\cite{...}`

to cite my related work.

An "Impossibility" Theorem on Second-order Discrete-time Nonlinear Control Systems,

*Proceedings of the Chinese Control Conference*, pp.57-61, Guangzhou, 2005. (with L. Guo)An ``impossibility'' theorem on a class of high-order discrete-time nonlinear control systems,

**Systems and Control Letters**, 57, no. 6, 2008, pp.497-504. Available from http://dx.doi.org/10.1016/j.sysconle.2007.11.008Further Results on Limitations to the Capability of Feedback,

**International Journal of Control**, vol. 81, no. 1, 2008, pp.21-42. Available from http:/dx.doi.org/10.1080/00207170701218333Adaptive Control for a Discrete-time First-order Nonlinear System with Both Parametric and Non-parametric Uncertainties,

*46th IEEE Conference on Decision and Control (CDC2007)*, New Orleans, United States, Dec 2007, pp.4839--4844. (with Kai-Yew Lum and S. S. Ge)

Several algorithms for finite-model adaptive control problem,

**Mathematics of Control, Signals and Systems**, 33 pages, 2008. Available from http:/dx.doi.org/10.1007/s00498-008-0029-9Finite-model adaptive control using WLS-like algorithm,

**Automatica**, vol. 43, no. 4, 2007, pp. 677-684. Available from http:/dx.doi.org/10.1016/j.automatica.2006.10.017Finite-model adaptive control using LS-like algorithm,

**Journal of Adaptive Control and Signal Processing**, vol. 21, no. 5, 2007, pp.391-414. Available from http:/dx.doi.org/10.1002/acs.928A framework of finite-model kalman filter with case study: MOPE-FMKF algorithm.

*Proceedings of 2011 Chinese Automation Conference*, Beijing, November 2011. (with B. Feng and M. Y. Fu and S. T. Wang)A framework of finite-model kalman filter with case study: MVDP-FMKF algorithm.

**Acta Automata Sinica**, 2013. (with B. Feng and M. Y. Fu and S. T. Wang)

Adaptive Synchronization of a Stochastic Discrete-time Multi-agent Dynamic Model,

**SIAM Journal on Control and Optimization**, vol. 48, no. 2, 2009, pp.859-880. Available from http://dx.doi.org/10.1137/070685610Decentralized Adaptive Filtering For Multi-agent Systems With Uncertain Couplings,

*Acta Automatica Sinica*, 2014, 1(1), 94−105. DOI: 10.3724/SP.J.1004.2014.00094 (with Y. N. Lv and C. G. Yang and M. Y. Fu)Decentralized Astrom-Wittenmark Self-Tuning Regulator of a Multi-agent Uncertain Coupled ARMAX System,

*2007 IEEE Multi-conference on Systems and Control*, Singapore, Oct 2007. (with Kai-Yew Lum and S. S. Ge)Decentralized Adaptive Synchronization of a Stochastic Discrete-Time Multiagent Dynamic Model,

*48th IEEE Conference on Decision and Control (CDC2009)*, Shanghai, China, Dec 2009.WLS-based Partially Decentralized Adaptive Control for Coupled ARMAX Multi-agent Dynamical System,

*2009 American Control Conference (ACC2009)*, 3543-3548. (with Kai-Yew Lum and S. S. Ge)Decentralized Adaptive Control of Discrete-Time Multi-Agent Systems, in

**Discrete-time Systems**, (2011), pp.229-254, I-Tech Education and Publishing, Vienna, Austria. ISBN: 978-953-307-200-5. (invited book chapter) (26 pages) (with C. G. Yang and M. Y. Fu) Available from http://www.intechopen.com/articles/show/title/decentralized-adaptive-control-of-discrete-time-multi-agent-systemsDecentralized Adaptive Control for a Class of Semi-parametric Uncertain Multi-agent Systems,

*Proceedings of the 9th World Congress on Intelligent Control and Automation (WCICA2012)*, Beijing, 6-8 Jul, 2012. (with Y. L. Zhao and C. G. Yang and M. Y. Fu)Decentralized Adaptive Tracking with One-Step-Guess Estimator,

*Proceedings of the 9th IEEE International Conference on Control & Automation (ICCA2011)*, Santiago, Chile, 2011. (with L. H. Rong and C. G. Yang and M. L. Wang)Comparison of Several Filtering Methods for Linear Multi-agent Systems with Local Unknown Parametric Couplings，The 3rd IFAC International Conference on Intelligent Control and Automation Science (ICONS 2013)，Chengdu, May 25-27, 2013. (with Y. N. Lv and C. G. Yang and M. Y. Fu)

Decentralized Filtering a Multi-Agent System with Local Parametric Couplings Based On Kalman Filter，2013 Chinese Conference of Decision and Control (CCDC2013)，Guizhou, May 25-27, 2013. (with Y. N. Lv and C. G. Yang and M. Y. Fu)

Adaptive Control for a Discrete-time First-order Nonlinear System with Both Parametric and Non-parametric Uncertainties,

*46th IEEE Conference on Decision and Control (CDC2007)*, New Orleans, United States, Dec 2007, pp.4839--4844. (with Kai-Yew Lum and S. S. Ge)Adaptive Predictive Control of Time-varying NARMA Systems with Exact Output Tracking,

*Proceedings of the 30th Chinese Control Conference (CCC2011)*, Yantai, 2011. (with C. G. Yang)Adaptive Control with Nearest-neighbor Previous Instant Compensation for Discrete-time Nonlinear Strict-feedback Systems,

*Proceedings of the 2012 American Control Conference (ACC2012)*, Fairmont Queen Elizabeth, Montréal, Canada , June 2012. (with C. G. Yang)Decentralized Adaptive Control for a Class of Semi-parametric Uncertain Multi-agent Systems,

*Proceedings of The 9th World Congress on Intelligent Control and Automation (WCICA2012)*, Beijing, 6-8 Jul 2012. (with Y. L. Zhao and C. G. Yang and M. Y. Fu)Adaptive Asymptotic Tracking Control of Strict-Feedback Nonlinear Discrete-Time System with Periodic Time Delay,

*2012 IEEE Multi-conference on Systems and Control (MSC2012)*, Dubrovnik, Croatia, 3-5 Oct 2012. (with C. G. Yang and B. Xu and P. Culverhouse)Adaptive Estimation and Control for Systems with Parametric and Nonparametric Uncertainties, in

**Adaptive Control**, (2009), pp.15-64, I-Tech Education and Publishing, Vienna, Austria. ISBN: 978-953-7619-47-3. (invited book chapter) (50 pages) (with Kai-Yew Lum) Available from http://www.intechopen.com/articles/show/title/adaptive_estimation_and_control_for_systems_with_parametric_and_nonparametric_uncertaintiesAdaptive Predictive Output Feedback Control With Asymptotic Tracking, in

**Discrete-time Systems**, (2011), pp.207-228, I-Tech Education and Publishing, Vienna, Austria. ISBN: 978-953-307-200-5. (invited book chapter) (22 pages) (with C. G. Yang) Available from http://www.intechopen.com/articles/show/title/discrete-time-adaptive-predictive-control-with-asymptotic-output-tracking

Nontrivial Closed-loop Analysis for an Extremely Simple One-Step-Guess Adaptive Controller,

*2011 Chinese Conference of Decision and Control (CCDC2011)*, 2011. (with L. H. Rong and M. L. Wang)Adaptive Tracking with One-Step-Guess Estimator and Its Variants,

*Proceedings of the 30th Chinese Control Conference (CCC2011)*, Yantai, 2011. (with L. H. Rong and M. L. Wang)Decentralized Adaptive Tracking with One-Step-Guess Estimator,

*Proceedings of the 9th IEEE International Conference on Control & Automation (ICCA2011)*, Santiago, Chile, 2011. (with L. H. Rong and C. G. Yang and M. L. Wang)

Adaptive Fault Diagnosis for a Class of Linear Discrete-time Systems via

_{}-Order Analysis,*the 29th Chinese Control Conference (CCC2010)*, 2010. (with Z. H. Deng)_{}-Order Analysis for Linear Time-Varying Systems,*the 29th Chinese Control Conference (CCC2010)*, 2010. (with M. L. Wang)

Optimized Model Reference Adaptive Motion Control of Robot Arms with Finite Time Tracking,

*the 31st Chinese Control Conference (CCC2012)*, Hefei, 25-27 Jul 2012. (with C. G. Yang and M. Y. Fu)Stochastic Neural Network Control of Rigid Robot Manipulator with Passive Last Joint,

*2012 UKACC International Conference on Control (UKACC2012)*, Cardiff, United Kingdom, 3-5 Sep 2012. (with J. Li and C. G. Yang and P. Culverhouse)Lateral Control of Autonomous Vehicles Based on Fuzzy Logic，2013 Chinese Conference of Decision and Control (CCDC2013)，Guizhou, May 25-27, 2013. (with X. Y. Wang and M. Y. Fu and Y. Yang)

On Control Design for a Class of Parametric Uncertain Nonlinear Systems. International Conference on Control and Automation (ICCA2013), Hangzhou, China, June 12-14, 2013. (with Q. Hu and Q. Fei, et. al)

A framework of finite-model kalman filter with case study: MOPE-FMKF algorithm.

*Proceedings of 2011 Chinese Automation Conference*, Beijing, November 2011. (with B. Feng and M. Y. Fu and S. T. Wang)A Comparison of Loosely-Coupled Mode and Tightly-Coupled Mode for INS/VMS,

*Proceedings of the 2012 American Control Conference (ACC2012)*, Fairmont Queen Elizabeth, Montréal, Canada , June 2012. (with Q. Z. Wang and Z. H. Deng and M. Y. Fu)Data-driven Kalman Filter for Linear Continuous-time Parametric Uncertain Systems with Non-uniformly Sampled Data,

*Proceedings of the 31th Chinese Control Conference (CCC2012)*, Hefei, 25-27 Jul 2012. (with P. S. He and C. G. Yang and M. Y. Fu)A New Discrete-time Guidance Law Base on Trajectory Learning and Prediction,

*Proceedings of the 2012 AIAA Guidance, Navigation and Control Conference (GNC2012)*, Minneapolis, Minnesota, U.S.A, 13-16 August, 2012. (with M. Z. Wang and M. Y. Fu and C. G. Yang)Localization of Static Target in WSNs with Least-Squares and Extended Kalman Filter,

*2012 International Conference on Control Automation Robotics & Vision (ICARCV2012)*, Hangzhou, China, 5-7 Dec 2012. (with W. D. Wang and Q. Q. Wang and M. Y. Fu)

A New Framework of Optimal Multi-Robot Formation Problem,

*Proceedings of the 30th Chinese Control Conference (CCC2011)*, Yantai, 2011. (with M. L. Wang and Z. C. Jia and C. G. Yang)Three-Robot Minimax Travel-Distance Optimal Formation,

*Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC2011)*, Orlando, Florida, 2011. (with Z. C. Jia and C. G. Yang and M. L. Wang)Three-Robot Minimum-Time Optimal Line Formation,

*Proceedings of the 9th IEEE International Conference on Control & Automation (ICCA2011)*, Santiago, Chile, 2011. (with Z. C. Jia and C. G. Yang and M. Y. Fu)Optimal Formation of Robots by Convex Hull and Particle Swarm Optimization,

*IEEE Symposium Series on Computational Intelligence 2013 (SSCI2013)*, Singapore, 16-19 April 2013. (with J. Liu and X. M. Ren)

Controlling a mobile robot using Emotiv headset, Proceedings of the 32nd Chinese Control Conference (CCC2013), Xi'an, 26-28 Jul 2012. (with S. Grude and C. G. Yang and M. Y. Fu)

Best Robot Kicker, Proceedings of the 32nd Chinese Control Conference (CCC2013), Xi'an, 26-28 Jul 2012. (with T. Boue and C. G. Yang and P. Culverhouse)

Haptic Interaction Between Human and Virtual Robot with CHAI3D and iCub Simulator, Proceedings of the 32nd Chinese Control Conference (CCC2013), Xi'an, 26-28 Jul 2012. (with P. Renon and C. G. Yang and M. Y. Fu)

A New Traffic Sign Recognition System with IFRS Detector and MP-SVM Classifier,

*2010 Second Global Congress on Intelligent Systems (GCIS2010)*, 2010. (with Y. S. Huang and M. Y. Fu)A Combined Method for Traffic Sign Detection and Classification,

*2010 Proceedings of Chinese Conference on Pattern Recognition (CCPR 2010)*, 2010. (with Y. S. Huang and M. Y. Fu)New Method for Recognition of Circular Traffic Sign Based on Radial Symmetry and Pseudo-Zernike Moments,

**Journal of Beijing Institute of Technology**, vol. 4, no. 4, 2011, pp.116-122. (with Y. S. Huang and M. Y. Fu)Robust Implementation for Circular Traffic Sign Recognition,

**Proceedings of 2011 International Conference in Electrics, Communication and Automatic Control (ECAL2011)**, vol. 2, 2011, pp.907-918, Springer. edited by Ran Chen. (with Y. S. Huang and M. Y. Fu)城市路网车道结构对交通流影响的SUMO仿真分析, 中国城市交通规划2012年年会暨第26次学术研讨会, Fuzhou, China, Nov 2012. (with Y. Li and R. Wang and M. Y. Fu)

Spectral Radius of the Canonical Particle Swarm Optimization,

*Proceedings of the 30th Chinese Control Conference (CCC2011)*, Yantai, 2011. (with J. Liu and X. M. Ren)Tracking Multiple Targets with Adaptive Swarm Optimization, in LNCS 6624:

**Applications of Evolutionary Computation**, (2011), pp.194-203, Springer, London. ISBN: 978-3-642-20524-8. (10 pages) (with J. Liu and X. M. Ren)A new PSO algorithm with random C/D switchings.

**Applied Mathematics and Computation**, 2012. (with J. Liu and X. M. Ren)Adaptive Swarm Optimization for Locating and Tracking Multiple Targets.

**Applied Soft Computing**, 2012. (with J. Liu and X. M. Ren)The analysis on lodging resistance of high-quality wheat.

**Mathematics in Practice and Theory**, 2012. (with J. Liu and X. M. Ren)高效节能车的最优“点火”设计, 北京理工大学学报, 2012. (with J. Liu and X. M. Ren)

Cyber-Class with Integrated Course Website Assisted Instruction,

*3rd International Conference on Computer Design and Applications (ICCDA2011)*, 2011. (with K. N. Zhang and M. Y. Fu)Design and Applications of Cyber-Class in New University Education,

**Proceedings of the 2011 Forum on University Liberal Education**, pp.205-214, Beijing, 2011. (with K. N. Zhang) (in Chinese)Easy-to-use MTeX suite. The PracTEX Journal, (1), 2012. (48 pages)

Detectability in Games of Pursuit and Evasion with Antagonizing Players,

*46th IEEE Conference on Decision and Control (CDC2007)*, New Orleans, United States, Dec 2007, pp.1407--1409. (with S. S. Ge and Kai-Yew Lum)Attackability in Games of Pursuit and Evasion with Antagonizing Players,

*17th IFAC World Congress*, Seoul, Korea, Jul 2008. (with S. S. Ge and Kai-Yew Lum)A New Approach of Multi-robot Cooperative Pursuit, Proceedings of the 32nd Chinese Control Conference (CCC2013), Xi'an, 26-28 Jul 2012. (with C. Wang and T. Zhang, et. al)

- What Kinds of Nonlinear Signals Can Be Tracked by LMS algorithm?,
*Proceedings of Chinese Control Conference*,pp.649-654,2002.

Several Inequalities in Differential Geometry and Their Generalizations (in Chinese) ,

**Journal of Graduate School of Chinese Academy of Sciences**, 2004, pp.153-163.On Geodesic Triangles of Surface with Constant Gaussian Curvature (in Chinese)

- One Application of Symbolic Computing to FEM--Some Remarks on "Plate Elements With High Accuracy" (in Chinese)

Processes of Extinction, Proceedings of the Complex Systems Summer School, Qingdao, 2004.

Analysis for Gerard's biofilm model-A general approach for analysis of some complex systems, Proceedings of the Complex Systems Summer School, Qingdao, 2004.

I have created my blog at sciencenet. You may see my recommended readings and short comments there. Due to my very limited time, I occasionally post full articles written by myself. However, from my condensed and inspiring comments, I believe you can gain a lot just like that I gain much from my extensive readings.

See my previous homepage for some more about myself, my family and others. Note that it is outdated and not maintained now. You can also see my previous opera blog to share some of my readings. Since I am very "lazy", I usually just use scissors and glue :-) I am not responsible for those materials made by others. May God forgive me :-)

For TeXers or researchers, you can try also latest Chinese MTeX Suite developed by myself, which is a compact yet powerful TeX system with TeX+LaTeX+ConTeXt+GhostScript+GsView+WinEdt+RedMon and many other useful tools. The link given here contains enough components for your use without any other TeX systems. More components can be downloaded from ftp://ftp.ctex.org/pub/tex/systems/mtex/ or http:/inin.bit.edu.cn/mathmhb/mtex/. You can visit MTeX-Suite Googlegroup to post your comments or suggestions to MTeX. You can also find some discussions on very old version, which are outdated but provide some information.

*Total Commander*: I customize it to do almost all my routine desktop jobs.*BBlean*,*BBclean*: I customize it to replace the explorer as the shell.*ArchLinux*: I customize it to play with Linux and enjoy the fun of try, failure and success!*CoLinux/AndLinux*: I customize it to run Arch Linux or Ubuntu Linux natively in my Windows system!*X Ming Server*: I customize it to support X Windows applications in CoLinux!*MingW+MSys*: I use gcc toolchains to develop cross-platform applications.*Delphi+KOL*: I use it to develop most GUI utils in MTeX.*Tiny C Compiler*: I use it to write tiny utils in MTeX.*Take Command Console/4NT/4DOS*: I use it to write many powerful batch scripts in MTeX!*WPS Office*: I use it to replace expensive and fat Microsoft Office!*Sogou Explorer*: I use it to explore websites abroad without using explicit proxy!*Opera*: I use it to explore websites abroad without using explicit proxy!*OperaMail*: I use it to manage all my email accounts!

*Searching internet**Reading misc books**Listening to radio**Listening to music**Investing numbers**Playing ping-pong**Playing misc chesses**Watching TVs on science/history/education/life*

This webpage is created from index.mkd with Markdown markup language, powered by jQuery and edited with Sc1IDE (All-In-One IDE) shipped with MTeX Suite.
I like the principle of **KISS Keep It Simple and Stupid!**
So this page looks simple and stupid, just for your info.
Note that the information here may be outdated since I may not have time to maintain this page regularly.