忻欣，国家级高层次人才，东南大学首席教授，博士生导师，东南大学复杂工程系统测量与控制教育部重点实验室主任，东南大学智能无人系统研究院执行院长。1987年以自动化系第2名的成绩毕业于中国科学技术大学，获得工学学士学位。1987年硕士生免试推荐至东南大学，师从中国科学院冯纯伯院士。1989年提前直接攻博，1991-1993年，获得日本文部省奖学金，作为中日联合培养博士生（师从冯纯伯院士和Hidenori Kimura教授）在日本大阪大学进行研究，1993年获得东南大学工学博士学位。2000年又获得日本东京工业大学博士(工学)学位。1993-1995年在东南大学从事博士后研究，1995-1996年任东南大学副教授，1996-1997年任日本新能源产业技术综合开发机构（NEDO）最先端领域技术研究员，1997-2000年任东京工业大学助理教授，2000-2007年任冈山县立大学副教授，2008-2023年任冈山县立大学教授，曾任该校计算机和系统工程学院长助理、校国际交流中心副主任、系统工程系主任。正在组建有关机器人与智能系统的研究团队和实验室。热烈欢迎优秀学生来我们实验室攻读硕士和博士学位，诚挚邀请优秀青年人才加入我们的团队。每年计划招收硕士研究生4-5名、博士研究生2名、博士后1-2名。

研究领域包括仿生智能机器人、人形机器人、四足机器人、机器人系统的智能和非线性控制理论和实验验证等。在 IEEE Transactions on Automatic Control、IEEE Transactions on Robotics、Automatica 等国际顶级学术期刊和重要国际会议上发表论文240多篇，出版专著6部，其中包括2014 年由Springer出版的有关欠驱动机器人系统的非线性控制理论和实验验证成果的专著。1988年获第二届全国机器人学术会议优秀论文奖，2004年获日本计测与自动控制学会（SICE）控制部门大会奖。参加过日本国家级重大科研项目3 项，主持过日本国家科学研究基金项目6项，日本3个研究财团的研究基金项目5项。主持过中国博士后基金项目、中国国家自然科学基金青年项目等，目前主持中国国家自然科学基金面上项目、国家高层次人才项目和省双创人才项目。曾任国家973 专家组成员、日本计测与自动控制学会控制理论委员会委员，现任中国自动化学会控制理论专业委员会委员、IFAC 的Large Scale Complex Systems的技术委员会委员、IEEE高级会员等。曾担任过IEEE Control Systems Letters、日本计测与自动控制学会论文杂志、日本机器人学会论文杂志的编委以及50多个国际学术会议的程序委员会委员。现为Automatica编委。

电子邮箱: xxin100@seu.edu.cn.

欠驱动机器人系统的代表性工作

代表性专著： 

1         X. Xin, Y. Liu, Control Design and Analysis for Underactuated Robotic Systems. Springer, 2014. (Monograph of 319 pages)

代表性论文 

1.       X. Xin; Y. Yan, Global analysis of energy-based swing-up control for soft robot, Automatica, vol. 161, p.111471, 2024.

2.   X. Xin, Y. Wang, Analysis and control of three-link planar robot with active last link: property and energy-based approach, Nonlinear Dynamics, vol. 112, pp. 5269–5289, 2024.

3.   X. Xin, Z. Wang, Y. Liu, Parameterization of minimal order strongly stabilizing controllers for wo-link underactuated planar robot with single sensor, Automatica, vol. 158, p.11280, 2023. 

4.   X. Xin, Y. Liu, S. Izumi, T. Yamasaki, and J. She, Nonlinear swing-down control of the Acrobot: Analysis and optimal gain design, ISA Transactions, vol.140, pp. 109-120, 2023. 

5.   X. Xin, Y. Liu, and K. Zhang, Linear controllability of two multi-link robotic systems with multiple unactuated joints, ISA Transactions, vol. 131, pp. 264-273, 2022.  

6.   X. Xin, Y. Liu, S. Hara, and Y. Muraoka, Analysis of synchronization of multiple identical metronomes on a cart via describing function approach, Asian Journal of Control, vol. 24, no. 6, pp. 2931-2951, 2022. 

7.   X. Xin, K. Makino, S. Izumi, T. Yamasaki, and Y. Liu, Anti-swing control of the Pendubot using damper and spring with positive or negative stiffness, International Journal of Robust and Nonlinear Control, vol. 31, no. 9, pp. 4227-4246, 2021.

8.   X. Xin, Linear strong structural controllability and observability of an n-link underactuated revolute planar robot with active intermediate joint or joints, Automatica, vol. 94, pp.436-442, 2018. 

9.   X. Xin, Necessary and sufficient conditions for linear strong structural controllability and observability of n-link underactuated planar robot with multiple active intermediate links, IET Control Theory & Applications, vol. 11, no. 12, pp. 1873-1883, 2017. 

10. Y. Liu, X. Xin*, Controllability and observability of an n-link planar robot with a single actuator having different actuator-sensor configurations, IEEE Transactions on Automatic Control, vol. 61, no. 4, pp. 1129-1134, 2016. 

11. X. Xin, Y. Liu, Trajectory tracking control of variable length pendulum by partial energy shaping. Communications in Nonlinear Science and Numerical Simulation, vol. 19, no. 5, pp. 1544-1556, 2014. 

12. X. Xin, Y. Liu, A set-point control for a two-link underactuated robot with a flexible elbow joint. Transactions of the ASME-Journal of Dynamic Systems, Measurement, and Control, vol.135, no. 5, 051016,10 pages, 2013. 

13. X. Xin, On simultaneous control of the energy and actuated variables of under-actuated mechanical systems -example of the acrobot with counterweight-. Advanced Robotics, vol. 27, no. 12, pp. 959-969, 2013. 

14. X. Xin, S. Tanaka, J. She, T. Yamasaki, New analytical results of energy-based swing-up control for the Pendubot. International Journal of Non-Linear Mechanics, vol.52, pp. 110-118, 2013.  

15. X. Xin, T. Yamasaki, Energy-based swing-up control for a remotely driven acrobot: Theoretical and experimental results. IEEE Transactions on Control Systems Technology, vol.20, no. 4, pp.1048-1056, 2012. 

16. X. Xin, J. She, Y. Liu, A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity. Nonlinear Dynamics, vol. 67, no. 2, pp. 909-923, 2012.  

17. X. Xin, Analysis of the energy-based swing-up control for the double pendulum on a cart. International Journal of Robust and Nonlinear Control, vol.21, no. 4, pp. 387-403, 2011.  

18. X. Xin, J. She, T. Yamasaki, Y. Liu, Swing-up control based on virtual composite links for n-link underactuated robot with passive first joint. Automatica, vol.45, no. 9, pp. 1986-1994, 2009. (Regular paper)  

19. X. Xin, M. Kaneda, Swing-up control for a 3-DOF gymnastic robot with passive first joint: Design and analysis. IEEE Transactions on Robotics, vol.23, no. 6, pp. 1277-1285, 2007. 

20. X. Xin, M. Kaneda, Analysis of the energy-based swing-up control of the Acrobot. International Journal of Robust and Nonlinear Control, vol.17, no. 16, pp. 1503-1524, 2007. 

21. X. Xin, M. Kaneda, Analysis of the energy-based control for swinging up two pendulums. IEEE Transactions on Automatic Control, vol. 50, no. 5, pp. 679-684, 2005. 

22. X. Xin, T. Mita, M. Kaneda, The posture control of a 2-link free flying acrobot with initial angular momentum. IEEE Transactions on Automatic Control, vol.49, no. 7, pp. 1201-1206, 2004.

1

鲁棒控制的代表性工作

代表性专著： 

1         冯纯伯，田玉平，忻欣，鲁棒控制系统设计，东南大学出版社，48 万字，1995.

代表性论文：

1       X. Xin, Y. Liu, Reduced-order stable controllers for two-link underactuated planar robots. Automatica, vol.49, no. 7, pp. 2176-2183, 2013.

2    J. She, X. Xin*, Y. Ohyama, Teaching sampled-data H_\infinity control theory using arm robot experiment system. IEEJ Transactions on Electrical and Electronics Engineering, vol.6, no. 6, pp. 585-593, 2011.

3        J. She, X. Xin, Y.D. Pan, Equivalent-input-disturbance approach·- Analysis and application to disturbance rejection in dual-stage feed drive control system. IEEE/ASME Transactions on Mechatronics, vol.16, no. 2, pp. 330-340, 2011.

4      X. Xin, Unified bound on the order of controllers using matrix pencil characterisation. IET Control Theory & Applications, vol.4, no. 1, pp. 140-150, 2010.

5        L. Tao, L. Guo, X. Xin, Improved delay-dependent bounded real lemma for uncertain time-delay systems. Information Sciences, vol.179, no. 20, pp. 3711-3719, 2009.

6        X. Xin, S. Hara, M. Kaneda, Reduced-order proper H_\infinity controllers for descriptor systems: Existence conditions and LMI-based design algorithms. IEEE Transactions on Automatic Control, vol.53, no. 5, pp. 1253-1258, 2008.

7        J. She, X. Xin, Y. Ohyama, Estimation of equivalent input disturbance improves vehicular steering control. IEEE Transactions on Vehicular Technology, vol.56, no. 6, pp. 3722-3731, 2007.

8        J. Wang, W.Q. Liu, Q.L. Zhang, X. Xin, H_\infinity Suboptimal model reduction for singular systems. International Journal of Control, vol.77, no. 11, pp. 992-1000, 2004.

9        X. Xin, Reduced-order controllers for the H_\infinity control problem with unstable invariant zeros. Automatica, vol.40, no. 2, pp. 319-326, 2004.

10    T. Mita, T.K. Nam, X. Xin, Sliding mode control for invertible systems based on a direct design of interactors. Asian Journal of Control, vol.5, no. 2, pp. 242-250, 2003.

11    X. Xin, T. Mita, A simple state-space design of an interactor for a non-square system via system matrix pencil approach. Linear Algebra and its Applications, vol.351, pp. 809-823, 2002.

12  J. She, X. Xin, Y. Ohyama, Two-degree-of-freedom optimal preview tracking control: A mechatronic design example. Transactions of the AMSE-Journal of Dynamic Systems, Measurement, and Control, vol.124, no. 4, pp. 704-709, 2002.

13    X. Xin, B.D.O. Anderson, T. Mita, Complete solution of the 4-block H_\infinity control problem with infinite and finite j\omega-axis zeros. International Journal of Robust and Nonlinear Control, vol.10, no. 2, pp. 59-81, 2000.

14    T. Mita, X. Xin, B.D.O. Anderson, Extended H_\infinity control -H_\infinity control with unstable weights. Automatica, vol.36, no. 5, pp. 735-741, 2000.

15    X. Xin, T. Mita, Inner-outer factorization for non-square proper functions with infinite and finite j\omega-axis zeros. International Journal of Control, vol.71, no. 1, pp. 145-161, 1998.

16    L. Guo, X. Xin, C.B. Feng, An LMI-based unified approach to reduced-order controller design. Science in China (Series E-Technological Sciences), vol.40, no. 6, pp. 612-622, 1997.

17    L. Guo, X. Xin, C.B. Feng, Reduced-order output feedback controllers for the robust H_\infinity performance problem. Chinese Science Bulletin, vol.42, no. 6, pp. 517-522, 1997.

18    X. Xin, L. Guo, C.B. Feng, Reduced-order controllers for continuous and discrete time singular H_\infinity control problems based on LMI. Automatica, vol.32, no. 11, pp. 1581-1585, 1996.

19    X.Xin, H. Kimura, (J, J')-lossless factorization for descriptor systems. Linear Algebra and its Applications, vol. 206, pp. 1289-1318, 1994.

20    X. Xin, H. Kimura, Singular (J, J')-lossless factorization for strictly proper functions. International Journal of Control, vol. 59, no. 6, pp. 1383-1400, 1994.