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谷国迎    
副教授    
    
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021-34205067
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上海交大机械与动力工程学院A楼936室
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教育背景
时间
毕业院校
学历
2006-2012
上海交通大学机械电子工程专业
博士
2002-2006
上海交通大学电子科学与技术专业
学士
工作经历
2016-今    上海交通大学机械与动力工程学院机器人所,副教授,硕士生导师,博士生导师
2015.2-8   新加坡国立大学机械工程系,访问学者
2014-2015  上海交通大学机械与动力工程学院机器人所,讲师
2013-2014  德国Oldenburg大学微机器人与控制工程中心,洪堡学者
2012-2014  上海交通大学机械与动力工程学院,博士后
2010-2011  加拿大Concordia大学机械工程系,博士联合培养

出访及挂职经历
研究方向
机器人学与运动控制技术:
1) 软体机器人,连续体机器人
2) 智能材料执行器与传感器


欢迎有机构设计、运动控制与规划、电路系统开发、动力学仿真、主动功能材料、力学和仿生学背景的联系合作或学习。
科研项目
*  2017-2019 国家自然科学基金优秀青年基金“软体机器人设计与控制”,负责人
*  2016-2019 上海市“科技创新行动计划”基础研究领域项目“基于软体智能材料的类人灵巧手设计与控制”,负责人
*  2015-2017 国家自然科学基金青年项目“超高带宽AFM纳米定位平台的主动阻尼与动态磁滞补偿控制技术研究”,负责人

代表性论文专著
* Corresponding Author for the non-first author's paper

【录用待发表】
[36]. C.-X. Li, Y. Ding, G.-Y. Gu and L.-M. Zhu, “Damping control of piezo-actuated nanopositioning stages with recursive delayed position feedback,” IEEE/ASME Transactions on Mechatronics, Accepted, Dec. 13, 2016.
[35]. J. Zou, G.-Y. Gu*, and L.-M. Zhu, “Open-loop control of creep and vibration in dielectric elastomer actuators with phenomenological models,” IEEE/ASME Transactions on Mechatronics, DOI: 10.1109/TMECH.2016.2591069, in press, 2016.
[34]. C.-X. Li, G.-Y. Gu, M.-J. Yang and L.-M. Zhu, “High-speed tracking of a nanopositioning stage using modified repetitive control,” IEEE Transactions on Automation Science and Engineering, DOI: 10.1109/TASE.2015.2428437, in press.

【2017】
[33]. G.-Y. Gu*, J. Zhu, L.-M. Zhu and X.-Y. Zhu, “A survey on dielectric elastomer actuators for soft robots,” Bioinspiration & Biomimetics, 2017, 12(1): 011003.
[32]. L. Xu, H. Chen, J. Zou, W. Dong, G.-Y. Gu*, L.-M. Zhu and X.-Y. Zhu, “A Bio-inspired annelid robot: a dielectric elastomer actuated soft robot,” Bioinspiration & Biomimetics, 2017, 12(2): 025003.

【2016】
[31]. G.-Y. Gu, L.-M. Zhu and C.-Y. Su “Modeling and identification of piezoelectric-actuated stages cascading hysteresis nonlinearity with linear dynamics,” IEEE/ASME Transactions on Mechatronics, 21(3): 1792-1797, 2016.
[30]. G.-Y. Gu, L.-M Zhu, C.-Y. Su, H. Ding and S. Fatikow, “Modeling and control of piezo-actuated nanopositioning stages: A survey,” IEEE Transaction on Automation Science and Engineering, 13(1): 313-332, 2016.
[29]. Z. Li, X. Zhang , G.-Y. Gu, X. Chen and C.-Y. Su “A comprehensive dynamic model for magnetostrictive actuators considering different input frequencies with mechanical loads,” IEEE Transactions on Industrial Informatics, 12(3): 980-990, 2016.
[28]. W. Dong, G.-Y. Gu*, X.-Y. Zhu and H. Ding, “A High-performance Flight Control Approach for Quadrotors using a Modified Active Disturbance Rejection Technique,” Robotics and Autonomous Systems, 83: 177-187, 2016..
[27]. C.-X. Li, G.-Y. Gu, L.-M. Zhu and Chun-Yi Su, “Odd-harmonic repetitive control for high-speed raster scanning of piezo-actuated nanopositioning stages with hysteresis nonlinearity,” Sensors & Actuators: A. Physical, 244:95-105, 2016.

【2015】
[26]. G.-Y. Gu, C.-Y. Su, and L.-M Zhu, “On robust inverse compensation and control of a class of nonlinear systems with unknown asymmetric backlash nonlinearity,” IET Control Theory & Applications, 9(12):1869-1877, 2015.
[25]. M.-J. Yang, C.-X. Li, G.-Y. Gu and L.-M. Zhu “Modeling and compensating the dynamic hysteresis of piezoelectric actuators via a modified rate-dependent Prandtl-Ishlinskii model,” Smart Materials and Structures, 24(12): 125006, 2015.
[24]. G.-Y. Gu, U. Gupta, J. Zhu, L.-M. Zhu and X.-Y. Zhu “Feedforward deformation control of a dielectric elastomer actuator based on a nonlinear dynamic model,” Applied Physics Letters, 107(4): 042907, 2015.
[23]. G.-Y. Gu, L.-M Zhu, C.-Y. Su, H. Ding and S. Fatikow, “Proxy-based sliding mode tracking control of piezoelectric-actuated nanopositioning stages,” IEEE/ASME Transactions on Mechatronics, 20(4): 1956-1965, 2015.
[22]. M.-J. Yang, J.-B. Niu, C.-X. Li, G.-Y. Gu and L.-M. Zhu, “High-bandwidth control of nanopositioning stages via an inner-loop delayed position feedback,” IEEE Transactions on Automation Science and Engineering, 12(4): 1357-1368, 2015.
[21]. W. Dong, G.-Y. Gu*, X.-Y. Zhu and H. Ding, “Solving the boundary value problem of an under-actuated quadrotor with subspace stabilization approach,” Journal of Intelligent and Robotic Systems, 80(2): 299-311, 2015.
[20]. W. Dong, G.-Y. Gu*, X.-Y. Zhu and H. Ding, “Development of a quadrotor test bed: modeling, parameter identification, controller design, and trajectory generation,” International Journal of Advanced Robotic Systems, 12:7|doi:10.5772/59618, 2015.

【2014】
[19]. G.-Y. Gu, L.-M Zhu and C.-Y. Su, “Modeling and compensation of asymmetric hysteresis nonlinearity for piezoceramic actuators with a modified Prandtl-Ishlinskii model,” IEEE Transactions on Industrial Electronics, 61(3): 1583-1595, 2014.
[18]. G.-Y. Gu, L.-M Zhu and C.-Y. Su, “Integral resonant damping for high-bandwidth control of piezoceramic stack actuators with asymmetric hysteresis nonlinearity,” Mechatronics, 24(4): 367-375, 2014. (SCI Impact Factor=1.726)
[17]. G.-Y. Gu, L.-M Zhu and Chun-Yi Su, “High-precision control of piezoelectric nanopositioning stages using hysteresis compensator and disturbance observer,” Smart Materials and Structures, 23(10): 105007, 2014.
[16]. G.-Y. Gu, and L.-M Zhu, “Comparative experiments regarding approaches to feedforward hysteresis compensation for piezoceramic actuators,” Smart Materials and Structures, 23(9): 095029, 2014.
[15]. G.-Y. Gu and L.-M Zhu, “An experimental comparison of proportional-integral, sliding mode, and robust adaptive control for piezo-actuated nanopositioning stages,” Review of Scientific Instruments, 85(5): 055112, 2014.
[14]. W. Dong, G.-Y Gu*, X. Zhu and H. Ding, “High-performance trajectory tracking control of a quadrotor with disturbance observer,” Sensors & Actuators: A. Physical, 211: 67-77, 2014.
[13]. M.-J. Yang, G.-Y. Gu* and L.-M. Zhu, “A modified Prandtl-Ishlinskii model for rate-dependent hysteresis nonlinearity using mth-power velocity damping mechanism,” International Journal of Advanced Robotic Systems, 11: 163 | doi: 10.5772/58984, 2014.
[12]. M.-J. Yang, G.-Y. Gu and L.-M. Zhu, “High-bandwidth tracking control of piezo-actuated nanopositioning stages using closed-loop input shaper,” Mechatronics, 24(6): 724-733, 2014.

【2013】
[11]. G.-Y. Gu, L.-M. Zhu, C.-Y. Su and H. Ding, “Motion control of piezoelectric positioning stages: modeling, controller design and experimental evaluation,” IEEE/ASME Transactions on Mechatronics, 18(5): 1459-1471, 2013. (SCI Impact Factor=3.427)
[10]. G.-Y. Gu, Z. Li, L.-M Zhu and C.-Y. Su, “A comprehensive dynamic modeling approach for giant magnetostrictive material actuators,” Smart Materials and Structures, 22(12): 125005, 2013.
[9]. G.-Y. Gu and L.-M Zhu, “Motion control of piezoceramic actuators with creep, hysteresis and vibration compensation,” Sensors & Actuators: A. Physical, 197: 76–87, 2013.
[8]. C.-X. Li, G.-Y. Gu, M.-J. Yang and L.-M. Zhu, “Design, analysis and testing of a parallel-kinematic high-bandwidth XY nanopositioning stage,” Review of Scientific Instruments, 84(12): 125111, 2013.
[7]. M.-J. Yang, G.-Y. Gu and L.-M. Zhu, “Parameter identification of the generalized Prandtl-Ishlinskii model for piezoelectric actuators using modified particle swarm optimization,” Sensors & Actuators: A. Physical, 189: 254–265, 2013.

【2012】
[6]. G.-Y. Gu, M.-J. Yang and L.-M. Zhu, “Real-time inverse hysteresis compensation of piezoelectric actuators with a modified Prandtl-Ishlinskii model,” Review of Scientific Instruments, 83(6): 065106, 2012.
[5]. L.-J. Lai, G.-Y. Gu and L.-M. Zhu, “Design and control of a decoupled two degree of freedom translation parallel micro-positioning stage,” Review of Scientific Instruments, 83(4): 045105, 2012.
[4]. L.-J. Lai, S. Zhou, G.-Y. Gu and L.-M. Zhu, “Development of an automatic approaching system for electrochemical nanofabrication using visual and force-displacement sensing,” Sensors, 12(7): 8465-8476, 2012.

【2011及更早】
[3]. G.-Y. Gu and L.-M. Zhu, “Modeling of rate-dependent hysteresis in piezoelectric actuators using a family of ellipses,” Sensors & Actuators: A. Physical, 157(2): 303-309, 2011.
[2]. G.-Y. Gu, L.-M. Zhu, Z. Xiong and H. Ding, “Design of a distributed multiaxis motion control system using the IEEE-1394 bus,” IEEE Transactions on Industrial Electronics, 57(12): 4209-4218, 2010.
[1]. G.-Y. Gu and L.-M. Zhu, “High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model,” Review of Scientific Instruments, 81(8): 085104, 2010.



教学工作
* 系统模型、分析与控制-A类(ME369),本科生必修课,68学时,4学分。
软件版权登记及专利
专利名称:基于IEEE-1394串行总线的多轴运动控制卡,授权号:ZL200910050444.5;
专利名称:实时磁滞逆模型对系统进行补偿实现的方法,授权号:ZL201010186108.6;
专利名称:二自由度平动并联解耦微动平台,授权号:ZL201010216326.X;
专利名称:微纳仪器装备中模板快速逼近和原位检测装置及方法,公开号:CN102680743A;
专利名称:二自由度平动并联高带宽微动平台,公开号:CN102962683A。
学术兼职
* Associate Editor, International Journal of Advanced Robotic Systems, 2015-
* Associate Editor, The 2016 IEEE International Conference on Automation Science and Engineering
* Guest Editor, International Journal of Advanced Robotic Systems, Special Issue “Micro/Nano Mechatronics and Automation”
* Co-Chair, The 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014), Session "Micro/Nano Actuators"
* IEEE Member, ASME Member
* IEEE/ASME Transactions on Mechatronics、IEEE Transactions on Industrial Electronics、IEEE Transactions on Automation Science and Engineering、IEEE Transactions on Control Systems Technology等期刊审稿人

荣誉奖励
* 国家优秀青年基金获得者
* 德国洪堡学者
* 2014 上海市优秀博士学位论文
* 2013 第三届上银优秀机械博士论文奖
* 2011 IEEE信息与自动化国际会议最佳论文奖




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