计算机科学与技术系

Department of Computer Science and Technology

Education background

Bachelor of Automation, Institute of Naval Aeronautical Engineering, Beijing, China, 1986;

Master of Automation, Institute of Naval Aeronautical Engineering, Beijing, China, 1989;

Ph. D. in Computer Science & Technology, Tsinghua University, Beijing, China, 1997.

Social service

Tsinghua University: Assistant Director of Office of Scientific R&D;

State Key Laboratory of Intelligent Technology and Systems: Deputy Director;

IEEE: Senior Member;

Chinese Association of Artificial Intelligence: Council Member;

Chinese Association for Artificial Intelligence: Deputy Director and Secretary-General of the Intelligent Control and Management Society;

IEEE Control System Society: Member of the Technical Committee on Intelligent Control

Mechatronics, IEEE Trans. on Neural Networks, Soft Computing: Associate Editor;

Chinese Journal of Intelligent Technology: Associate Editor;

Information Science: Guest Editor;

Science in China: Guest Editor.

Areas of Research Interests/ Research Projects

Intelligent Control and Robotics, Guidance and Control for Mobile Robots & Spacecrafts

Networked Control Systems

Information Sensing and Processing in Artificial Cognitive Systems

National Natural Science Foundation of China: Robust Routing Algorithms and Simulations for Multi-Layered Satellite Network (2009-2010);

National Natural Science Foundation of China: Modeling and Intelligent Autonomous Control of Near-Space Hypersonic Vehicle (2008-2010);

National 863 High-Tech Program: Real-Time Modeling and Navigation of Mobile Robots in Dynamic Environment (2008-2010);

National Basic Research Program of China (The 973 Program): Knowledge Inference and Multi-Modal Interaction of Unstructured Information (2007-2011);

National Natural Science Funds for Distinguished Young Scholars: Modeling, Planning and Control of Dual-Armed Space Robots (2007-2010);

National Natural Science Foundation of China: Multi-Objective Robust Control through Fuzzy Singularly Perturbed Model and its Applications (2005-2007);

National Natural Science Foundation: Research on High-Precision and High-Stability Intelligent Control of Spacecrafts (2005-2007);

National Basic Research Program of China (The 973 Program): Theories and Techniques of Real-Time Intelligent Control and Optimization for Complex Manufacturing Process (2003-2008);

National Natural Science Foundation of China: Dynamic Neuro-Fuzzy Control of Multi-Link Flexible Robots and its Experimental Research (2001-2003);

National Distinguished Doctoral Dissertation Foundation: Dynamic Neuro-Fuzzy Modeling and Control of Flexible-Link Manipulators (2001-2005).

Research Status

I have been focused on neuro-fuzzy modeling, and control and filtering of nonlinear systems for over ten years. Supported by National Science Foundation of China, National Basic Research Program (973), National 863 High-Tech Program and Advanced Defensive Research Project, series of research achievements have been achieved in stable neuro-fuzzy adaptive control and robust control of nonlinear systems, and filtering and control of Markovian Jump Systems. Significant achievements are listed as follows:

1. Stable Neuro-Fuzzy Adaptive Control of Nonlinear Systems. I have proposed a novel design idea of neural network-variable structure control. I have also developed systematic design approaches to the sampled-data adaptive control of (rigid/flexible link) robotic manipulators and a class of nonlinear systems. Those theoretical results have been verified by experiments. Representative paper of this research, "Neural Network-based Adaptive Controller Design of Robotic Manipulators with an Observer", was awarded the first prize of the 18th Choon-Gang academic awards (Korea) in 2003.

2. Control and Filtering of Multi-Scale Nonlinear Systems and Markov Jump Systems.

A large class of practical plants, including flexible manipulators, flying wing aircrafts, catalytic reduction towers and large flexible space structures, can be described by multiple scale models with small perturbation parameters. I have proposed and proved the existence and sufficiency of approximation of multi-scale nonlinear systems using fuzzy singularly perturbed model (FSPM). I have also indicated the necessary condition of the universal approximator with a given precision. The adaptive and robust control approaches are developed based on both dependent and independent perturbation parameter solutions, which could obtain a significant control precision. Furthermore, effective methods are developed to address the saturation effect and incomplete measurable states in practical systems. I was invited to give a plenary speech in IEEE Intelligent System Design and Applications 2006 on this topic.

3. Application Researches. Since I joined Tsinghua University in 2001, I have supervised 20 master and 15 Ph.D students. Our research are related to some of the most important applications of neuro-fuzzy control methods in rigid and flexible-link manipulators, nonlinear systems, internetworked systems, space robots, etc. As of the experimental verification of our theoretical results, we have constructed two flexible-link robot test-beds and a teleoperation system for space on-orbit services. I have published 2 monographs, and filed 8 patent applications (3 authorized).

Honors And Awards

National Natural Science Funds for Distinguished Young Scholars (2006);

New Century Talents Award by Ministry of Education (2004);

National Science and Technology Progress Award, Second Class (2002);

18th Choon-Gang Academic Awards (Korea) (2003);

Science and Technology Progress Award by City of Beijing, Second Class (2004).

National Distinguished Doctoral Dissertation (2000).

Academic Achievement

[1] Fuchun Sun, Zengqi Sun, Bo Zhang. Manipulator adaptive control neural network theory and method. Higher Education Press, Beijing, 2005(in Chinese).

[2] F. C. Sun and F. G. Wu. Chapter 8: A discrete-time jump fuzzy system approach to networked control system design. In Networked Control Systems: Theory and Applications,Eds. Fei-YueWang & Derong Liu, West Publishing Company: March 2008.

[3] F. C. Sun, Y. Tan and C. Wang. Special issue on pattern recognition and information processing using neural networks. Soft Computing, 2010, 14(2): 101-102.

[4] L. Lee and F. C. Sun. The direct adaptive control based on the singularly perturbed model with the unknown consequence. International Journal of Control Automation & Systems, 2010, 8(2): 38-243. 

[5] H. Q. Wang and F. C. Sun. An unbiased LSSVM model for classification and regression. Soft Computing, 2010, 14(2): 171-180.

[6] N. Chen, F. C.Sun and L. G, Ding. An adaptive PNN-DS approach to classification using multi-sensor information fusion. Neural Computing & Applications, 2009, 18(5):455-467.

[7] H. Wu, F. C. Sun and H. P. Liu. Fuzzy particle filtering for uncertain systems. IEEE Trans. Fuzzy Systems, 2008, 16(5):114-119.

[8] F. C. Sun, L. Li, H. X. Li and H. P. Liu. Neuro-fuzzy dynamic-inversion- based adaptive control for robotic manipulators-discrete time case. IEEE Trans. On Industrial Electronics, 2007, 54(3): 1342-1351.

[9] W. Hao, and F. C. Sun. Adaptive kriging control of discrete-time nonlinear systems. IEE Proceedings- Control Theory and Applications, 2007, 1(3):646-656.

[10] Y. G. Tang, F. C. Sun and Z. Q. Sun. Neural network control of flexible-link manipulators using sliding mode. Neurocomputing, 2006, 70:288-295.

[11] F. C. Sun, Z. Q. Sun and H. X. Li. Stable adaptive controller design of robotic manipulators via neuro-fuzzy dynamic inversion. Journal of Robotic Systems, 2005, 2005, 22(12):809-819.

[12] F. C. Sun, H. P. Liu and K. Z. He. Reduced-order H?? filtering for linear systems with Markovian jump parameters. Systems and Control Letters, 2005,54(8):739-746.

[13] H. P. Liu, F. C. Sun and Z. Q. Sun. Stability analysis and synthesis of fuzzy singularly perturbed systems. IEEE Trans. on Fuzzy Systems, 2005, 13(2):273-284.

[14] F. C. Sun, H. P. Liu and Z. Q. Sun. Comments on 'Constrained controller design of discrete Takagi-Sugeno fuzzy models'. Fuzzy Sets and Systems, 2004, 146(2): 473-476.

[15]H. P. Liu, F. C. Sun, K. Z. He and Z. Q. Sun. Design of reduced-order H?? filter for Markovian jump linear systems with time-delay. IEEE Trans. on Circuits and Systems, Part II ---- Express Briefs, 2004, 51(11):607-612.

[16] F. C. Sun, Z. Q. Sun and L. Li. Adaptive dynamic neuro-fuzzy controller design of robotic manipulators. Fuzzy Sets and Systems, 2003, 134(1): 117-133.

[17]F. C. Sun and Z. Q. Sun. Hybrid neuro-fuzzy adaptive control for flexible-link manipulators. International Journal of Fuzzy Systems, 2003, 5(2): 89-97.

[18] F. C. Sun, H. X. Li and L. Li. Robot discrete adaptive control based on dynamic inversion using dynamical neural networks. Automatica, 2002, 38(11): 1977-1983.

[19] F. C. Sun, Z. Q. Sun and P. Y. Woo. Neural network-based adaptive controller design of robot manipulators with an observer. IEEE Trans. on Neural Networks, 2001, 12(1): 54-67.

[20] F. C. Sun, Z. Q. Sun, Y. B. Chen and R. J. Zhang. Neural adaptive tracking controller for robot manipulators with unknown dynamics. IEE Proceedings, Part D: Control Theory and Applications, 2000, 147(3): 366-370.

[21] F. C. Sun, Z. Q. Sun and F. Gary. An adaptive fuzzy controller based on sliding mode for robot manipulators. IEEE Trans. on Systems, Man, and Cybernetics. (Part B: Cybernetics), 1999, 29(5): 661-667.

[22] F. C. Sun, Z. Q. Sun, Y. Y. Zhu and W. J. Lu. Stable neuro-adaptive control for robots with unknown dynamics. Journal of Intelligent and Robotic Systems. 1999, 26(1): 91-100.

[23] F. C. Sun and Z. Q. Sun. Robot adaptive control based on dynamic inversion using dynamical neural networks. Machine Intelligence and Robot Control, 1999, 1(2): 71-78.

[24] F. C. Sun, Z. Q. Sun, and P. Y. Woo. Stable neural network-based adaptive control for sampled-data nonlinear systems. IEEE Trans. on Neural Networks, 1998, 9(5): 956-968.

[25] F. C. Sun, Z. Q. Sun, M. H. Guo and R.J. Zhang. A stable neural network-based adaptive controller for robot manipulators. International Journal of Intelligent and Robotic systems, 1998, 2(3): 413-432.

[26] F. C. Sun and Z. Q. Sun. Stable sampled-data adaptive control of robots using neural network models. Journal of Intelligent and Robotic Systems. 1997, 20( 2): 131-155.

[27]H. Wu, F. C. Sun, Z. Q. Sun and L. C. Wu. Optimal trajectory planning of a flexible dual-arm space robot with vibration reduction. Journal of Intelligent and Robotic Systems, 2004, 40(2):147-163.

[28] N. Zhao and F. C. Sun. Comments on 'Fuzzy control design for nonlinear singularly perturbed systems with pole placement constraints: an LMI approach'. IEEE Trans. on Systems, Man and Cybernetics, 2004, 34(6):2422.