The dynasty was founded by the Jurchen Aisin Gioro clan in Manchuria. In the late sixteenth century, Nurhaci, originally a Ming vassal, began organizing Jurchen clans into "Banners", military-social units. Nurhaci formed these clans into a unified entity, the subjects of which became known collectively as the Manchu people. By 1636, his son Hong Taiji began driving Ming forces out of Liaodong and declared a new dynasty, the Qing. In 1644, peasant rebels led by Li Zicheng conquered the Ming capital Beijing. Rather than serve them, Ming general Wu Sangui made an alliance with the Manchus and opened the Shanhai Pass to the Banner Armies led by Prince Dorgon, who defeated the rebels and seized Beijing. The conquest of China proper was not completed until 1683 under the Kangxi Emperor (r. 1661–1722). The Ten Great Campaigns of the Qianlong Emperor from the 1750s to the 1790s extended Qing control into Central Asia. While the early rulers maintained their Manchu ways, and while their official title was Emperor they were known as khans to the Mongols and patronized Tibetan Buddhism, they governed using Confucian styles and institutions of bureaucratic government. They retained the imperial examinations to recruit Han Chinese to work under or in parallel with Manchus. They also adapted the ideals of the tributary system in international relations, and in places such as Taiwan, the Qing so-called internal foreign policy closely resembled colonial policy and control.