《运动控制系统》
《机器人技术导论》

强化学习自适应动态规划专委会委员
平行控制与管理专委会委员
具身智能专委会委员

[1] Yongfeng Lv, Ren Xuemei*. Approximate Nash Solutions for Multiplayer Mixed-Zero-Sum Game with Reinforcement Learning. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 49(12):2739-2750, 2018.
[2] Yongfeng Lv, Xuemei Ren*, Jing Na. Online Optimal Solutions for Multi-player Nonzero-Sum Game with Completely Unknown Dynamics. Neurocomputing, 283: 87-97, 2018.
[3] Yongfeng Lv, Xuemei Ren*, Jing Na. Online Nash-Optimization Tracking Controls of Multi-Motor Driven Load System with Reinforcement Learning. ISA Transactions. 98: 251-262, 2020.
[4] Yongfeng Lv, Xuemei Ren*, Jing Na. Adaptive optimal tracking controls of unknown multi-input systems based on nonzero-sum game theory. Journal of the Franklin Institute, 356(15): 8255-8277, 2019.
[5] Yongfeng Lv, Xuemei Ren*, Shuangyi Hu. Optimal Stabilization Control of Servo Mechanisms based on Reinforcement Learning Scheme. International Journal of Control, Automation and Systems, 17(10):2655-2665, 2019.
[6] Yongfeng Lv, Jing Na*, Qinmin Yang, Xing Wu, Yu Guo. Online Adaptive Optimal Control for Continuous-Time Nonlinear Systems with Completely Unknown Dynamics. International Journal of Control, 89(1): 99-112, 2016.
[7] Yongfeng Lv, Jing Na*, Xuemei Ren. Online H∞ control for completely unknown nonlinear systems via an identifier-critic-based ADP structure. International Journal of Control, 92(1):100-111, 2019.
[8] Yongfeng Lv, Jing Na, Xiaowei Zhao, Yingbo Huang, and Xuemei Ren. Multi-H∞ controls for unknown input-interference nonlinear system with reinforcement learning. IEEE Transactions on Neural Networks and Learning Systems 34, no. 9 (2021): 5601-5613.
[9] Yongfeng Lv, Xuemei Ren, Jianyan Tian, and Xiaowei Zhao. Inverse-model-based iterative learning control for unknown MIMO nonlinear system with neural network. Neurocomputing 519 (2023): 187-193.
[10] Yongfeng Lv, Zhaolong Wu, and Xiaowei Zhao. Data-based optimal microgrid management for energy trading with integral Q-learning scheme. IEEE Internet of Things Journal 10, no. 18 (2023): 16183-16193.
[11] Baixue Miao, Yongfeng Lv*, Huimin Chang, and Xuemei Ren. Sliding Optimal Tracking Control of Autonomous Underwater Vehicles with Adaptive Dynamic Programming. IEEE Transactions on Aerospace and Electronic Systems 61, no. 2 (2025): 3361-3372.
[12] Jun Zhao, Yongfeng Lv*, Zhangu Wang, and Ziliang Zhao*. Adaptive Q-Learning Based Model-Free H∞ Control of Continuous-Time Nonlinear Systems: Theory and Application. IEEE Transactions on Emerging Topics in Computational Intelligence 9, no. 2 (2025): 61, no. 2 (2025): 3361-3372.
[13] Yu Tang, Yongfeng Lv*, Jun Zhao, Long Jian, and Linwei Li. Prescribed performance event-triggered optimal control of nonlinear multi-input systems. Neurocomputing 637 (2025): 130044.
[14]吕永峰*, 田建艳, 菅垄, 任雪梅. 非线性多输入系统的近似动态规划 H∞ 控制. 控制理论与应用 38, 10 (2021)：1662-1670.

[1].    国家自然科学青年基金(62103296)：受扰多输入非线性系统建模及有限时间近似动态规划方法(2022.01-2024.12）.
[2].    山西省基础研究计划青年项目(20210302124030)：采煤机截割部多伺服驱动系统建模及有限时间最优控制(2022.01-2024.12）.
[3].    山西省支助留学回国人员项目(2023-062)：基于自适应增强学习的微电网能量最优管理策略(2023.07-2026.7）.
[4].    山西省基础研究计划面上项目：受约束微电网系统多储能设备能量最优管理研究(2025.1.1-2027.12.31).
[5].    山西省出国留学人员择优资助项目: 多源微电网系统自主安全纳什均衡控制(2025.7.1-2027.7.31).
[6].    国家自然科学基金联合重点课题(U25A20452): 高速磁浮列车多维度指定时间抗干扰控制方法研究(2026.1.1-2029.12.31).
[7].    云南省重点实验室开放课题：受扰多伺服驱动系统固定时间最优控制(2025.1.1-2026.12.31).
[8].    山西省教育厅教改项目(J20240290):运动控制系统课程实例融合教学研究. (2024.4.1-2025.5.31).

[1]吕永峰, 田建艳. 一种基于Scara机械臂的神经网络优化控制方法, ZL202011145279.4, 2023-12-1，已授权.
[2]吕永峰, 苗白雪, 菅垄, 张婉. 多伺服驱动采煤机截割部的力矩最优控制方法， ZL202311577578.9, 2024-1-14, 已授权.
[3]任雪梅, 吕永峰, 李林伟, 王敏林. 模型未知的双电机负载的动态规划最优控制方法，ZL201711337500.4, 2020-4-17, 已授权.
[4]任雪梅, 吕永峰, 李慧超, 李林伟. 一种未知伺服系统的强化学习最优跟踪控制方法，ZL201904118547.4, 2020-4-24, 已授权.

[1]大惯量伺服驱动系统的关键技术及应用, 中国商业联合会, 科技进步二等奖, 2024.
[2]智能物流立体仓储机器人驱动控制系统关键技术及应用, 中国物流与采购联合会, 科技进步二等奖, 2025.