Dr. LIU, Lu

Dr. LIU, Lu

Associate Professor

Research Interest

  • Networked Systems and Control
  • Robotic Vehicle Networks
  • Nonlinear Control and Applications
  • Intelligent Control
  • Biomedical Devices
  • Phone: +852 3442-5426
    Email: luliu45@cityu.edu.hk
    Address: YEUNG-Y6612

    • Lecturer, The University of Nottingham, United Kingdom
    • Assistant Professor, The University of Tokyo, Japan

    • Ph. D., Mechanical and Automation Engineering, Chinese University of Hong Kong
    • M. Phil, Automation and Computer-Aided Engineering, Chinese University of Hong Kong
    • B.Eng, Automation Engineering, Northwestern Polytechnical University, China

    • Outstanding Research Award for Junior Faculty, City University of Hong Kong, 2020
    • Outstanding Teaching Award of the College of Engineering, City University of Hong Kong, 2020
    • Outstanding Supervisor Award, City University of Hong Kong, 2019
    • Outstanding Supervisor Award, City University of Hong Kong, 2018
    • Best Paper Award, the 13th World Congress on Intelligent Control and Automation, 2018
    • Zhang Si-Ying (CCDC) Outstanding Youth Paper Award, the 30th Chinese Control and Decision Conference, 2018
    • The President’s Award, City University of Hong Kong, 2018
    • Outstanding Reviewer, IEEE Transactions on Cybernetics, 2017
    • Shimemura Young Author Award, the 11th Asian Control Conference, 2017
    • Outstanding Supervisor Award, City University of Hong Kong, 2017
    • Best Paper Award (Guan Zhaozhi Award), Chinese Control Conference, 2008
    • Best Presentation Award, American Control Conference, 2007

    Yangyang Qian (Graduated, 2019)

    • Research Tuition Scholarship, 2016/17

    Liya Dou (Graduated, 2019)

    • Outstanding Academic Performance Award for Research Degree Students, 2016-17

    Xiao Yu (Graduated, 2016)

    • Outstanding Academic Performance Award for Research Degree Students, 2015-16

    Wenfeng Hu (Graduated, 2016)

    • Outstanding Academic Performance Award for Research Degree Students, 2015-16
    • Outstanding Academic Performance Award for Research Degree Students, 2014-15
    • Research Tuition Scholarship 2015/16

    • M. Lu and L. Liu*, “Robust Synchronization Control of Switched Networked Euler-Lagrange Systems,” IEEE Transactions on Cybernetics, in press.
    • Y. Wu and L. Liu*, “Distributed Output Regulation for a Class of Nonlinear Multi-agent Systems with Dynamic Edges,” IEEE Transactions on Cybernetics, DOI: 10.1109/TCYB.2020.3028504
    • M. Guo, D. Xu, and L. Liu*, “Design of Cooperative Output Regulators for Heterogeneous Uncertain Nonlinear Multi-Agent Systems,” IEEE Transactions on Cybernetics, DOI: 10.1109/TCYB.2020.3027961
    • M. Lu and L. Liu*, “Consensus of Heterogeneous Second-Order Nonlinear Uncertain Multi-Agent Systems Under Switching Networks,” IEEE Transactions on Automatic Control, DOI: 10.1109/TAC.2020.3019737
    • J. Hu, H. Zhang, L. Liu, X. Zhu, C. Zhao, and Q. Pan, “Convergent Multi-Agent Formation Control with Collision Avoidance,” IEEE Transactions on Robotics, DOI: 10.1109/TRO.2020.2998766
    • L. Dou, C. Song, X. Wang, L. Liu*, and G. Feng, “Target Localization and Enclosing Control for Networked Mobile Agents with Bearing Measurements,” Automatica, vol. 118, August 2020. DOI: 10.1016/j.automatica.2020.109022.
    • A. Wang, L. Liu*, J. Qiu, and G. Feng, “Event-Triggered Adaptive Fuzzy Output Feedback Control for Nonstrict-Feedback Nonlinear Systems with Asymmetric Output Constraint,” IEEE Transactions on Cybernetics. DOI: 10.1109//TCYB.2020.2974775
    • A. Wang, L. Liu*, J. Qiu, and G. Feng, “Fuzzy Adaptive Finite-Time Fault-Tolerant Control for Strict-Feedback Nonlinear Systems,” IEEE Transactions on Fuzzy Systems, DOI: 10.1109/TFUZZ.2020.2965890
    • X. Xu, L. Liu, and G. Feng, “Stability and Stabilization of Infinite Delay Systems: A Lyapunov Based Approach,” IEEE Transactions on Automatic Control, vol. 65, no. 11, pp. 4509-4524, Nov. 2020. DOI: 10.1109/TAC.2019.2958557.
    • M. Lu and L. Liu*, “Quantized Output Regulation of Minimum-Phase Linear Uncertain Systems,” International Journal of Robust and Nonlinear Control, in press, Sept. 2020. DOI: 10.1002/RNC.5157
    • Y. Qian, L. Liu*, and G. Feng, “Event-Triggered Robust Output Regulation of Uncertain Linear Systems with Unknown Exosystems,” IEEE Transactions on Systems, Man, and Cybernetics. DOI: 10.1109/TSMC.2019.2931752
    • Y. Qian, L. Liu*, and G. Feng, “Distributed Dynamic Event-Triggered Control for Cooperative Output Regulation of Linear Multiagent Systems,” IEEE Transactions on Cybernetics, vol. 50, no. 7, pp.3023-3032, July 2020. DOI: 10.1109/TCYB.2019.2905931
    • M. Lu and L. Liu*, “Robust Output Consensus of Networked Heterogeneous Nonlinear Systems by Distributed Output Regulation,” Automatica, accepted, Mar. 2018. DOI: 10.1109/TAC.2017.2771318
    • Y. Li, L. Liu*, and G. Feng, “Finite-Time H-infinity Controller Synthesis of T-S Fuzzy Systems,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol.50, no.5, pp.1956-1963, May 2020. DOI: 10.1109/TSMC.2018.2792218
    • Y. Qian, L. Liu*, and G. Feng, “Distributed Event-Triggered Adaptive Control for Consensus of Linear Multi-Agent Systems with External Disturbances,” IEEE Transactions on Cybernetics, vol. 50, no. 5, pp. 2197-2208, May 2020. DOI: 10.1109/TCYB.2018.2881484
    • Y. Qian, L. Liu*, and G. Feng, “Cooperative Output Regulation of Linear Multi-Agent Systems: An Event-Triggered Adaptive Distributed Observer Approach,” IEEE Transactions on Automatic Control, DOI: 10.1109/TAC.2020.2985947
    • M. Lu and L. Liu*, “Leader-Following Attitude Consensus of Multiple Rigid Spacecraft Systems under Switching Networks,” IEEE Transactions on Automatic Control, vol. 65, no. 2, pp. 839-845,Feb. 2020. DOI: 10.1109/TAC.2019.2920074
    • X. Xu, L. Liu, and G. Feng, “Consensus of Linear Multi-Agent Systems with Distributed Infinite Transmission Delays: A Low Gain Approach,” IEEE Transactions on Automatic Control, vol. 65, no. 2, pp. 809-816,Feb. 2020. DOI: 10.1109/TAC.2019.2918119
    • M. Lu and L. Liu*, “Leader-Following Consensus of Multiple Uncertain Euler-Lagrange Systems with Unknown Dynamic Leader,” IEEE Transactions on Automatic Control, vol. 64, no. 10, pp. 4167-4173, Oct. 2019. DOI: 10.1109/TAC.2019.2892384
    • X. Xu, L. Liu, and G. Feng, “Semi-Global Stabilization of Linear Systems with Distributed Infinite Input Delays and Actuator Saturations,” Automatica, vol. 107, no. 6, pp. 398-405, Sept. 2019. DOI: 10.1016/j.automatica.2019.06.005
    • A. Wang, L. Liu*, J. Qiu, and G. Feng, “Event-Triggered Robust Adaptive Fuzzy Control for a Class of Nonlinear Systems,” IEEE Transactions on Fuzzy Systems, vol. 27, no. 8, pp. 1648-1658, Aug. 2019. DOI: 10.1109/TFUZZ.2018.2886158
    • M. Lu, L. Liu*, and G. Feng, “Adaptive Tracking Control of Uncertain Euler-Lagrange Systems Subject to External Disturbances,” Automatica, vol. 104, no. 6, pp. 207-219, June 2019. DOI: 10.1016/j.automatica.2019.02.048
    • Y. Qian, L. Liu*, and G. Feng, “Output Consensus of Heterogeneous Linear Multi-Agent Systems with Adaptive Event-Triggered Control,” IEEE Transactions on Automatic Control, vol. 64, no. 6, pp. 2606-2613, June 2019. DOI: 10.1109/TAC.2018.2868997
    • W. Hu, L. Liu*, and G. Feng, “Event-Triggered Cooperative Output Regulation of Linear Multi-Agent Systems under Jointly Connected Topologies,” IEEE Transactions on Automatic Control, vol. 64, no. 3, pp. 1317-1322, Mar. 2019. DOI: 10.1109/TAC.2018.2849587
    • M. Meng, L. Liu*, and G. Feng, “Adaptive Output Regulation of Heterogeneous Multi-Agent Systems under Markovian Switching Topologies,” IEEE Transactions on Cybernetics, vol. 48, no. 10, pp. 2962-2971, Oct. 2018. DOI: 10.1109/TCYB.2017.2753382
    • L. Dou, C. Song, X. Wang, L. Liu*, and G. Feng, “Coverage Control for Heterogeneous Mobile Sensor Networks Subject to Measurement Errors,” IEEE Transactions on Automatic Control, vol. 63, no. 10, pp. 3479-3486, Oct. 2018. DOI: 10.1109/TAC.2018.2799491
    • M. Lu and L. Liu*, “Leader-following Consensus of Multiple Uncertain Euler-Lagrange Systems,” International Journal of Robust and Nonlinear Control, vol. 28, no. 14, pp. 4093-4104, Sep. 2018. DOI: 10.1002/rnc.4223
    • X. Yu, L. Liu*, and G. Feng, “Distributed Circular Formation Control of Nonholonomic Vehicles without Direct Distance Measurements,” IEEE Transactions on Automatic Control, vol. 63, no. 8, pp. 2730-2737, Aug. 2018. DOI: 10.1109/TAC.2018.2790259
    • M. Lu and L. Liu*, “Leader-Following Consensus of Multiple Uncertain Euler-Lagrange Systems Subject to Communication Delays and Switching Networks,” IEEE Transactions on Automatic Control, vol. 63, no. 8, pp. 2604-2611, Aug. 2018. DOI: 10.1109/TAC.2017.2771318
    • M. Guo, D. Xu, and L. Liu*, “Adaptive Nonlinear Ship Tracking Control with Unknown Control Direction,” International Journal of Robust and Nonlinear Control, vol. 28, no. 3, pp. 2828-2840, Mar. 2018. DOI: 10.1002/rnc.4052
    • W. Hu, L. Liu*, and G. Feng, “Cooperative Output Regulation of Linear Multi-Agent Systems by Intermittent Communication: A Unified Framework of Time- and Event-Triggering Strategies,” IEEE Transactions on Automatic Control, vol. 63, no. 2, pp. 548-555, Feb. 2018. DOI: 10.1109/TAC.2017.2727821
    • X. Yu, X. Xu, L. Liu*, and G. Feng, “Circular Formation of Networked Dynamic Unicycles by a Distributed Dynamic Control Law,” Automatica, vol. 89, no. 1, pp. 1-7, Jan. 2018. DOI: 10.1016/j.automatica.2017.11.021
    • M. Guo, D. Xu, and L. Liu*, “Nussbaum Function-Based Universal Cooperative Output Regulation Design for Uncertain Nonlinear Multi-Agent Systems,” International Journal of Robust and Nonlinear Control, vol. 28, no. 1, pp. 716-728, Jan. 2018. DOI: 10.1002/rnc.3897
    • M. Guo and L. Liu*, “Output Regulation of Output Feedback Systems with Unknown Exosystem and Unknown High-Frequency Gain Sign,” Transactions of the Institute of Measurement and Control, vol. 40, no. 1, pp. 171-178, Jan. 2018. DOI: 10.1177/0142331216654535.
    • M. Guo, D. Xu, and L. Liu*, “Adaptive Nonlinear Ship Tracking Control with Unknown Control Direction,” International Journal of Robust and Nonlinear Control, vol. 28, no. 3, pp 2828-2840, Mar. 2018. DOI: 10.1002/rnc.4052
    • X. Xu, L. Liu, and G. Feng, “Consensus of Discrete-Time Linear Multi-Agent Systems with Communication, Input and Output Delays,” IEEE Transactions on Automatic Control, vol. 63, no. 2, pp. 492-497, Feb. 2018. DOI: 10.1109/TAC.2017.2720703
    • W. Hu, L. Liu*, and G. Feng, “Cooperative Output Regulation of Linear Multi-Agent Systems by Intermittent Communication: A Unified Framework of Time- and Event-Triggering Strategies,” IEEE Transactions on Automatic Control, vol. 63, no. 2, pp. 548-555, Feb. 2018. DOI: 10.1109/TAC.2017.2727821
    • X. Yu, X. Xu, L. Liu*, and G. Feng, “Circular Formation of Networked Dynamic Unicycles by a Distributed Dynamic Control Law,” Automatica, vol. 89, no. 1, pp. 1-7, Jan. 2018. DOI: 10.1016/j.automatica.2017.11.021
    • M. Meng, L. Liu*, and G. Feng, “Output Consensus for Heterogeneous Multi-Agent Systems with Markovian Switching Network Topologies,” International Journal of Robust and Nonlinear Control, vol. 28, no. 1, pp 1049-1061, Jan. 2018. DOI: 10.1002/rnc.3918
    • M. Guo, D. Xu, and L. Liu*, “Nussbaum Function-Based Universal Cooperative Output Regulation Design for Uncertain Nonlinear Multi-Agent Systems,” International Journal of Robust and Nonlinear Control, vol. 28, no. 1, pp 716-728, Jan. 2018. DOI: 10.1002/rnc.3897
    • M. Lu and L. Liu*, “Cooperative Output Regulation of Linear Multi-Agent Systems by a Novel Distributed Dynamic Compensator,” IEEE Transactions on Automatic Control, vol. 62, no. 12, pp. 6481-6488, Dec. 2017. DOI: 10.1109/TAC.2017.2658026, 2017.
    • Y. Li, L. Liu*, and G. Feng, “Finite−Time Stabilization of a Class of T−S Fuzzy Systems,” IEEE Transactions on Fuzzy Systems, vol. 25, no. 6, pp. 1824-1829, Dec. 2017. DOI: 10.1109/TFUZZ.2016.2612301.
    • M. Guo, D. Xu, and L. Liu*, “A Result on Output Regulation of Lower Triangular Systems with Unknown High-Frequency Gain Sign,” International Journal of Robust and Nonlinear Control, vol. 27, no. 18, pp. 4903-4918, Dec. 2017. DOI: 10.1002/rnc.3835.
    • X. Yu and L. Liu*, “Target Enclosing and Trajectory Tracking for a Mobile Robot Subject to a Class of Input Disturbances,” IEEE Control Systems Letters, vol. 1, no. 2, pp. 218-225, Oct. 2017. DOI: 10.1109/LCSYS.2017.2712663
    • Y. Li, L. Liu, and G. Feng, “Adaptive Finite-Time Controller Design for T-S Fuzzy Systems,” IEEE Transactions on Cybernetics, vol. 47, no. 9, pp. 2425-2436, Sep. 2017. DOI: 10.1109/TCYB.2017.2671902
    • X. Xu, L. Liu, and G. Feng, “Consensus of Heterogeneous Linear Multi-Agent Systems with Communication Time-Delays,” IEEE Transactions on Cybernetics, vol. 47, no. 8, pp. 1820-1829, Aug. 2017. DOI: 10.1109/TCYB.2017.2702635
    • M. Meng, L. Liu, and G. Feng, “Stability and l_1 Gain Analysis of Boolean Networks with Markovian Jump Parameters,” IEEE Transactions on Automatic Control, vol. 62, no. 8, pp. 4222-4228, Aug. 2017. DOI:10.1109/TAC.2017.2679903.
    • W. Hu, L. Liu*, and G. Feng, “Output Consensus of Heterogeneous Linear Multi-Agent Systems by Distributed Event-Triggered/Self-Triggered Strategy,” IEEE Transactions on Cybernetics, vol. 47, no. 8, pp. 1914-1924, Aug. 2017. DOI: 10.1109/TCYB.2016.2602327.
    • L. Dou, C. Song, X. Wang, L. Liu*, and G. Feng, “Nonuniform Coverage Control for Heterogeneous Mobile Sensor Networks on the Line,” Automatica, vol. 81, no. 7, pp. 464-470, July 2017. DOI: 10.1016/j.automatica.2017.04.029
    • X. Yu and L. Liu*, “Cooperative Control for Moving-Target Circular Formation of Nonholonomic Vehicles,” IEEE Transactions on Automatic Control, vol. 62, no. 7, pp. 3448-3454, July 2017. DOI: 10.1109/TAC.2016.2614348
    • X. Yu and L. Liu*, “Leader-Follower Formation of Vehicles with Velocity Constraints and Local Coordinate Frames,” SCIENCE CHINA Information Sciences, vol. 60, no. 7, pp. 070206:1–070206:15, July 2017. DOI: 10.1007/s11432-016-9094-1
    • M. Lu and L. Liu*, (Front Cover) “Consensus of Linear Multi-Agent Systems Subject to Communication Delays and Switching Networks,” International Journal of Robust and Nonlinear Control, vol. 27, no. 9, pp. 1379-1396, June 2017. DOI: 10.1002/rnc.3750
    • M. Guo, D. Xu, and L. Liu*, “Cooperative Output Regulation of Heterogeneous Nonlinear Multi-Agent Systems with Unknown Control Directions,” IEEE Transactions on Automatic Control, vol. 62, no. 6, pp. 3039-3045, June 2017. DOI: 10.1109/TAC.2016.2609281.
    • M. Guo, L. Liu*, and G. Feng, “Global Disturbance Rejection for Nonlinear Lower Triangular Systems with iISS Inverse Dynamics and Uncertain Exosystem,” International Journal of Robust and Nonlinear Control, vol. 27, pp. 1757-1772, June 2017. DOI: 10.1002/rnc.3634.
    • Y. Li, L. Liu*, and G. Feng, “Finite−Time Stabilization of a Class of T−S Fuzzy Systems,” IEEE Transactions on Fuzzy Systems, vol. 25, no. 6, pp. 1824-1829, Dec. 2017. DOI: 10.1109/TFUZZ.2016.2612301.
    • M. Lu and L. Liu*, “Distributed Feedforward Approach to Cooperative Output Regulation Subject to Communication Delays and Switching Networks,” IEEE Transactions on Automatic Control, vol. 62, no. 4, pp.1999-2005, April 2017.
    • M. Guo, L. Liu*, and G. Feng, “Global Disturbance Rejection for Nonlinear Lower Triangular Systems with iISS Inverse Dynamics and Uncertain Exosystem”, International Journal of Robust and Nonlinear Control, accepted, 2015. DOI: 10.1002/rnc.3634.
    • W. Hu, L. Liu*, and G. Feng, “Output Consensus of Heterogeneous Linear Multi-Agent Systems by Distributed Event-Triggered/Self-Triggered Strategy,” IEEE Transactions on Cybernetics, DOI: 10.1109/TCYB.2016.2602327
    • M. Guo and L. Liu*, “Output Regulation of Output Feedback Systems with Unknown Exosystem and Unknown High-Frequency Gain Sign,” Transactions of the Institute of Measurement and Control, DOI: 10.1177/0142331216654535, 2016.
    • W. Hu and L. Liu*, “Cooperative Output Regulation of Heterogeneous Linear Multi-Agent Systems by Event-Triggered Control,” IEEE Transactions on Cybernetics, vol. 47, no. 1, pp. 105-116, Jan. 2017. DOI: 10.1109/TCYB.2015.2508561
    • X. Yu and L. Liu*, “Distributed Formation Control of Nonholonomic Vehicles Subject to Velocity Constraints,” IEEE Transactions on Industrial Electronics, vol. 63, no. 2, pp. 1289-1298, Feb. 2016. DOI: 10.1109/TIE.2015.2504042
    • C. Song, L. Liu, G. Feng, and S. Xu, “Coverage Control for Heterogeneous Mobile Sensor Networks on a Circle,” Automatica, vol. 63, no. 1, pp. 349-358, Jan. 2016. DOI: 10.1016/j.automatica.2015.10.044.
    • W. Hu, L. Liu*, and G. Feng, “Consensus of Linear Multi-Agent Systems by Distributed Event-Triggered Strategy,” IEEE Transactions on Cybernetics, vol. 46, no. 1, pp. 148-157, Jan. 2016. DOI: 10.1109/TCYB.2015.2398892.
    • Y. Fan, L. Liu, G. Feng and Y. Wang, “Self-Triggered Consensus for Multi-Agent Systems with Zeno-Free Triggers,” IEEE Transactions on Automatic Control, vol. 60, no. 10, pp. 2779-2784, Oct. 2015.
    • L. Liu*, “Adaptive Cooperative Output Regulation for a Class of Nonlinear Multi-Agent Systems,” IEEE Transactions on Automatic Control, vol. 60, no. 6, pp. 1677-1682, June 2015. DOI: 10.1109/TAC.2014.2360023.
    • X. Zhang, L. Liu, and G. Feng, “Leader-Follower Consensus of Time-Varying Nonlinear Multi-Agent Systems,” Automatica, vol.52, no.2, pp. 8-14, Feb. 2015.
    • M. Guo and L. Liu* (Invited), “Adaptive Output Regulation Problem for a Class of Nonlinear Systems,” Control Theory and Technology (in Chinese), vol.31, no.7, pp. 987-992, July 2014.
    • C. Song, L. Liu, G. Feng and S. Xu, “Optimal Control for Multi-Agent Persistent Monitoring,” Automatica, vol.50, no.6, pp.1663-1668, June 2014.
    • C. Song, L. Liu, G. Feng, Y. Wang, and Q. Gao, “Persistent Awareness Coverage Control for Mobile Sensor Networks,” Automatica, vol. 49, no. 6, pp. 1867-1873, June 2013.
    • Y. Fan, L. Liu, G. Feng, C. Song, and Y. Wang, “Virtual Neighbor Based Connectivity Preserving of Multi-Agent Systems with Bounded Control Inputs in the Presence of Unreliable Communication Links,” Automatica, vol. 49, no. 5, pp. 1261-1267, May 2013.
    • L. Liu*, “Robust Cooperative Output Regulation Problem for Nonlinear Multi-Agent Systems,” IET Control Theory & Applications, vol. 6, no. 13, pp. 2142-2148, Sept. 2012.
    • L. Liu, Z. Chen and J. Huang, “Global Disturbance Rejection of Lower Triangular Systems with Unknown Exosystem,” IEEE Transactions on Automatic Control, vol. 56, no. 7, pp. 1690-1695, July 2011.
    • L. Liu, Z. Chen and J. Huang, “Parameter Convergence and Minimal Internal Model with an Adaptive Output Regulation Problem,” Automatica, vol. 45, no. 5, pp. 1306-1311, May 2009.
    • L. Liu, F. Lewis and J. Huang, “Global Robust Tracking of a Class of Nonlinear Systems and Its Application,” IEEE Transactions on Circuits and Systems-I, vol. 55, no. 9, pp. 2743-2752, Oct. 2008.
    • L. Liu and J. Huang, “Global Robust Output Regulation of Lower Triangular Systems with Unknown Control Direction,” Automatica, vol. 44, no. 5, pp. 1278-1284, May 2008.
    • L. Liu and J. Huang, “Global Robust Stabilization of Cascade-Connected Systems with Dynamic Uncertainties without Knowing the Control Direction,” IEEE Transactions on Automatic Control, vol. 51, no. 10, pp. 625-631, Oct. 2006.
    • L. Liu and J. Huang, “Global Robust Output Regulation for Output Feedback Systems with Unknown High-Frequency Gain Sign,” IEEE Transactions on Automatic Control, vol. 51, no. 4, pp. 625-631, April 2006.

    *** Research Opportunities ***

    Ph.D. student, Postdoctoral Fellow, Research Assistant/Associate in the area of Networked Systems and Control, Robotic Vehicle Networks, Nonlinear Control and Applications, Intelligent Control, Biomedical Devices or other relevant areas are available for application. Interested applicants please send complete CV to luliu45@cityu.edu.hk


    Last modified on 16 November, 2020