1. ILC of consensus for MAS,2014-2016

2. Adaptive Learning Control Based on Hybrid Systems Theory，NSFC，2010-2012,31万

3. Neural Network Control of Periodic Time-Varying Nonlinearly Parametric Systems,NSFC,2009-2011, 28万

4. Theory and Applications of Adaptive Iterative Learning Control for Non-uniform Trajectories tracking,NSFC, 2004-2006, 21万

5. Research on FAST General Design and Key Technology,NSFGC，300万

6. Study on DEDS Control Optimization and Application in FMS,NSFC，2000-2002, 12万(69974028)

7. Research on DEDS Control and Schedule Approaches Based on Petri Nets, NSFC, 1996-1998, 8万(69574043)，

8. Dynamic Hierarchical Optimization of Nonlinear Large-Scale Industrial Processes with model-Reality Differences, NSFC, 1997-1999, 12万(69674003)，

9. Identification and adaptive control of nonlinear systems based on Wavelet neural networks, HK Grant(CERG)

10. Adaptive filtering of nonlinear systems based on Wavelet neural networks, HK Grant

Ministration Level Projections

1. Adaptive Iterative Learning Control of Nonlinear Systems，Shaanxi Province Nature Science Fund,2003-2004, 1.5万

2. Research on Robust Adaptive Control Algorithms, Xidian University Young Fund Projection,1993

3. NN Identification and Control of Complex Dynamic Systems, Xidian University Young Fund Projection,1995