王安青｜大连海事大学｜学者主页

2026

智能船舶人机共融航行控制技术研究现状与展望

吕从一，姜岳，王浩亮，王安青，彭周华

《中国舰船研究》

DOI

2026

Parallel path maneuvering control of cyber–physical autonomous surface vehicles based on model-agnostic meta-learning predictor

Yan Xu, Nan Gu, Fengbei Xia, Anqing Wang, Zhouhua Peng

Ocean Engineering

DOI

2026

Parallel automatic berthing control of maritime automatous surface ships via data-driven neural predictor

Lingfeng Li, Gaihui Wang, Yue Jiang, Zhouhua Peng, Anqing Wang, Hui Li

IET conference proceedings.

DOI

2026

Model-free safe synchronization control of high-order nonlinear multi-agent systems based on finite-time data-driven fuzzy predictor

Huijuan Li, Nan Gu, Zhouhua Peng, Shaocheng Tong, Anqing Wang

Applied Mathematics and Computation

DOI

2026

Safety-certified pursuit-evasion game of underactuated autonomous surface vehicles with experiments: A differential game approach with rate-tunable CBF optimization

Fangyuan Xu, Zhouhua Peng, Nan Gu, Anqing Wang, Haoliang Wang

Ocean Engineering

DOI

2026

NMPC-Based Dual-Channel Resilience Against False Data Injection in Pursuit–Evasion Games of Autonomous Surface Vehicles

Ronghui Li, Zhouhua Peng, Nan Gu, Haoliang Wang, Anqing Wang

IEEE Transactions on Industrial Informatics

DOI

2026

REGNet: A Radar Evidence-Guided Network for Robust USV Perception in Adverse Weather

Zixuan Tian, Tengfei Xie, Anqing Wang, Hua-Rong Zheng

OCEANS 2026 Sanya

DOI

2026

SAGA-3D: Semantic-Aligned Geometric Augmentation for Maritime 3D Detection

Tengfei Xie, Zixuan Tian, Anqing Wang, Hua-Rong Zheng

OCEANS 2026 Sanya

DOI

2026

Digital Twin-enabled Parallel Collaborative Berthing Control of Autonomous Tugs Subject to Multiple Safety Constraints

Hao-Dong Liu, Anqing Wang, Bing Han, Shi-Ming Wang, Zhouhua Peng

Autonomous Transportation Research

DOI

2026

Line-of-Sight Guidance Strategy for Collaborative Berthing of Autonomous Tugs

Hao-Dong Liu, Anqing Wang, Ling-Feng Li, Jiaxue Xu, Nan Gu, Zhouhua Peng

International Conference on Intelligent Control and Information Processing

DOI

2026

Breaking the orientation barrier: Multi-cognitive visual adaptation for autonomous surface vehicle perception via real–virtual fusion

Lei Chen, Zhouhua Peng, Anqing Wang, Xiong-Fei Geng, Yue-Liang Cai, Dan Wang

Ocean Engineering

DOI

2026

Parallel Path Following Control of Maritime Autonomous Surface Ships With Dual Podded Propulsion System

Ling-Feng Li, Zhouhua Peng, Anqing Wang, Hao-Dong Liu, Tie-Shan Li

IEEE Transactions on Vehicular Technology

DOI

2026

Trajectory Tracking Control of Second-order Uncertain Nonlinear Systems based on Integral Concurrent Learning Predictor

Huijuan Li, Nan Gu, Zhouhua Peng, Lu Liu, Haoliang Wang, Anqing Wang

International Conference on Intelligent Control and Information Processing

DOI

2026

Safety-Critical Perimeter-Defense Guidance of Autonomous Surface Vehicles Based on Nonlinear Model Predictive Control

Rong-Hui Li, Nan Gu, Zhouhua Peng, Lu Liu, Haoliang Wang, Anqing Wang

2026 IEEE 20th International Conference on Control and Automation (ICCA)

DOI

2026

Fully Distributed Event-Triggered Cooperative Target Enclosing Control for Underactuated ASVs Via Adaptive Observers

Anqing Wang, Xukun Li, Yanjie Mou, Yue Jiang, Wen-Jie Wu, Zhouhua Peng

2026 IEEE 20th International Conference on Control and Automation (ICCA)

DOI

2026

Collision-Free Guidance and Control for Collaborative Berthing of Autonomous Tugboats Based on Control Barrier Functions

Hao-Dong Liu, Zhouhua Peng, Anqing Wang, Feng Sun, Ming Peng

IEEE transactions on intelligent transportation systems (Print)

DOI

2026

Safety-Certified Cooperative Path Following of Networked Autonomous Surface Vehicles Based on Nash Equilibrium Seeking With Experiments

Yan-Ping Xu, Lu Liu, Bing Han, Anqing Wang, Zhouhua Peng

IEEE/ASME transactions on mechatronics

DOI

2026

Efficient and Transferable Reinforcement Learning for Unmanned Surface Vehicles Via Differentiable Dynamics

Wang Luo, Zixian Zhou, Anqing Wang, Hua-Rong Zheng

OCEANS 2026 Sanya

DOI

2025

基于动态事件触发的多无人船协同路径跟踪控制

吕旻高，古楠，刘陆，王安青，王丹，彭周华

《中国舰船研究》

2025

Distributed consensus of nonlinear multi-agent systems based on data-driven fuzzy learning predictor

Anqing Wang, Haibin Tuo, Yuechen Liu, Nan Gu, Zhouhua Peng

Nonlinear Dynamics

DOI

2025

Pursuit-evasion game of under-actuated ASVs based on deep reinforcement learning and model predictive path integral control

Chao Pan, Anqing Wang, Zhouhua Peng, Bing Han, Guanghao Lyu, Weidong Zhang

Neurocomputing

DOI

2025

Safety-Critical Control of Autonomous Surface Vehicles for Collaborative Transportation Based on Quadratic Programming

Haodong Liu, Jiaxue Xu, Anqing Wang, Nan Gu, Lu Liu, Zhouhua Peng

Lecture notes in electrical engineering

DOI

2025

Teaching Model Innovation of “Fuzzy Control Theory and Applications” Driven by Science and Education Integration

Zhouhua Peng, Anqing Wang, Haoliang Wang, Lu Liu, Huipu Xu

Advances in Social Science, Education and Humanities Research/Advances in social science, education and humanities research

DOI

2025

Safety-Certified Target-Reaching of Autonomous Surface Vehicles Based on Optimal Heading Control Barrier Functions

Kuangyu Yang, Lu Liu, Yanping Xu, Jun Ning, Anqing Wang, Dan Wang

Communications in computer and information science

DOI

2025

Singularity-free adaptive fuzzy tracking control of an unmanned surface vehicle with adjustable prescribed performance

Anqing Wang, Xiao Lang, Gong-Wu Sun, Maozhou Yang, Zhouhua Peng

Ocean Engineering

DOI

2024

基于事件触发机制的多自主水下航行器协同路径跟踪控制

王浩亮，柴亚星，王丹，刘陆，王安青，彭周华

《自动化学报》

DOI

2024

Constrained trajectory planning for automatic berthing of maritime autonomous surface ships based on input-to-state safe zeroing high order control barrier functions

Haodong Liu, Nan Gu, Anqing Wang, Yuchao Wang, Tieshan Li, Zhouhua Peng

Ocean Engineering

DOI

2024

Data-Driven Learning Fuzzy Output-Feedback Control with Prescribed Performance for Nonlinear Systems

Anqing Wang, Yuechen Liu, Ming‐Zhe Dai, Bing Han, Zhouhua Peng, Dan Wang

International Journal of Fuzzy Systems

DOI

2024

Adaptive energy-efficient reinforcement learning for AUV 3D motion planning in complex underwater environments

Jiayi Wen, Anqing Wang, Jingwei Zhu, Fengbei Xia, Zhouhua Peng, Weidong Zhang

Ocean Engineering

DOI

2024

Safety-critical anti-disturbance control of tugs for collaborative berthing

Haodong Liu, Anqing Wang, Bing Han, Tieshan Li, Dan Wang, Zhouhua Peng

Ocean Engineering

DOI

2024

Safety-critical formation control of switching uncertain Euler-Lagrange systems with control barrier functions

Anqing Wang, Lei Ju, Lu Liu, Haoliang Wang, Nan Gu, Zhouhua Peng, Dan Wang

Applied Mathematics and Computation

DOI

2024

Heterogeneous cross domain coordinated control of ASV-AUV system for maritime search and rescue

Haoliang Wang, Shihao Tong, Anqing Wang, Weidong Zhang, Zhihuan Hu, Zhouhua Peng

Ocean Engineering

DOI

2024

Parallel path following control of cyber-physical maritime autonomous surface ships based on deep neural predictor

Lingfeng Li, Anqing Wang, Bing Han, Dan Wang, Tieshan Li, Zhouhua Peng

Ocean Engineering

DOI

2024

Prescribed Performance Control of Second Order Nonlinear Multiagent Systems with Actuator Faults

Jiayou Guan, Shida Xun, Meng Wang, Anqing Wang, Wenqiang Ji, Zhaocheng Wang

2024 4th International Conference on Robotics, Automation and Intelligent Control (ICRAIC)

DOI

2024

Dynamic Sliding Mode-based Fault-Tolerant Control for Ship Dynamic Positioning Based on T-S Fuzzy Piecewise Affine Models

Anqing Wang, Ming Xin, Xiao Lang, Mingjun Cai, Wen-Qiang Ji, Yuechen Liu

Youth Academic Annual Conference of Chinese Association of Automation

DOI

2024

State and Disturbance Estimation of Autonomous Surface Vehicles based on Nonlinear Cascade Extended State Observers

Shijian Jiao, Lu Liu, Yongqi Yu, Anqing Wang, Dan Wang, Zhouhua Peng

International Conference on Information and Software Technologies

DOI

2024

Safety-Critical Pursuit-Evasion Differential Game Guidance for Multiple Underactuated Autonomous Surface Vehicles

Huan Luo, Nan Gu, Dan Wang, Lu Liu, Anqing Wang, Zhouhua Peng

Youth Academic Annual Conference of Chinese Association of Automation

DOI

2023

Safety-Critical Game-Based Formation Control of Underactuated Autonomous Surface Vehicles

Nan Gu, Haoliang Wang, Anqing Wang, Lu Liu

IEEE CAA J. Autom. Sinica

DOI

2023

Multi-AUG three-dimensional path planning and secure cooperative path following under DoS attacks

Haoliang Wang, Li-Yu Lu, Tie-Shan Li, Anqing Wang

Ocean Engineering

DOI

2023

Optimal Consensus Control for Continuous-Time Linear Multiagent Systems: A Dynamic Event-Triggered Approach

Haotong Zhang, Anqing Wang, Wen-Qiang Ji, Jian-Bin Qiu, Huaicheng Yan

IEEE Transactions on Neural Networks and Learning Systems

DOI

2023

Discrete-Time Anti-Disturbance Heading Tracking Control of Autonomous Surface Vehicle

Huijuan Li, Zhouhua Peng, Dan Wang, Anqing Wang, Nan Gu

International Conference on Information and Software Technologies

DOI

2023

Safety-Critical Path Planning of Autonomous Surface Vehicles Based on Rapidly-Exploring Random Tree Algorithm and High Order Control Barrier Functions

Yihe Li, Zhouhua Peng, Lu Liu, H. Wang, Nan Gu, Anqing Wang, Dan Wang

International Conference on Automation, Control and Robotics Engineering

DOI

2023

Consensus of Uncertain Euler-Lagrange Multi-agent Systems under Switching Digraphs and Disturbances

Lei Ju, Zhiwei Wang, Anqing Wang, Xiaotong Zhou

International Conference on Automation, Control and Robotics Engineering

DOI

2022

多圆碟形水下滑翔机的双层协调三维路径规划

王浩亮，卢丽宇，王丹，李文华，刘陆，王安青

《控制理论与应用》

2022

Safety-Critical Path Following Guidance of Intelligent Surface Vehicles for Automatic Docking Subject to Static and Dynamic Obstacles

Xiaowen Kong, Yun Jing, Haoliang Wang, Anqing Wang, Dan Wang

IEEE International Conference on Intelligent Transportation Systems (ITSC)

DOI

2022

Safe cooperative path following with relative-angle-based collision avoidance for multiple underactuated autonomous surface vehicles

Lu Liu, Yan-Ping Xu, Zipeng Huang, Haoliang Wang, Anqing Wang

Ocean Engineering

DOI

2022

Leader-Following Consensus of Multiple Uncertain Euler–Lagrange Systems via Fully Distributed Event-Triggered Adaptive Fuzzy Control

Anqing Wang, Lu Liu, Jian-Bin Qiu, Gang Feng

IEEE Transactions on Cybernetics

DOI

2022

Safe Motion Planning for Goal Reaching of Multiple Autonomous Surface Vehicles Based on High-order Control Barrier Functions

Yan-Ping Xu, Lu Liu, Zhouhua Peng, Dan Wang, H. Wang, Anqing Wang

2022 IEEE 17th International Conference on Control & Automation (ICCA)

DOI

2022

Data-driven model-free resilient speed control of an autonomous surface vehicle in the presence of actuator anomalies.

Shengnan Gao, Lu Liu, Haoliang Wang, Anqing Wang

ISA transactions

DOI

2021

Shared control of ship autopilots and human pilots for maritime autonomous surface ship in the presence of actuator anomalies

Minghao Ruan, Anqing Wang, Dan Wang

Systems Science & Control Engineering

DOI

2021

Cooperative Output Tracking of Heterogeneous Uncertain Nonlinear Multi-Agent Systems via Distributed Event-Triggered Adaptive Fuzzy Control

Anqing Wang, Lu Liu, Jian-Bin Qiu

International Conference on Information and Software Technologies

DOI

2021

Cooperative Trajectory Tracking of Multiple Unmanned Surface Vehicles via Distributed Time-Varying Optimization

Shengnan Gao, Lu Liu, Zhouhua Peng, Dan Wang, H. Wang, Anqing Wang

2021 IEEE International Conference on Unmanned Systems (ICUS)

DOI

2021

Learning to Control of an Under-actuated Autonomous Surface Vehicle Based on Model-based Deep Reinforcement Learning

Qiuyue Sun, Zhouhua Peng, Dan Wang, Haoliang Wang, Lu Liu, Anqing Wang

International Conference on Information and Software Technologies

DOI

2020

几类不确定非线性系统的事件触发自适应模糊控制研究

王安青

《哈尔滨工业大学》

2020

Finite-Time Adaptive Fuzzy Control for Nonstrict-Feedback Nonlinear Systems Via an Event-Triggered Strategy

Anqing Wang, Lu Liu, Jian-Bin Qiu, G. Feng

IEEE transactions on fuzzy systems

DOI

2020

Event-Triggered Adaptive Fuzzy Output-Feedback Control for Nonstrict-Feedback Nonlinear Systems With Asymmetric Output Constraint

Anqing Wang, Lu Liu, Jian-Bin Qiu, G. Feng

IEEE Transactions on Cybernetics

DOI

2019

Event-Triggered Robust Adaptive Fuzzy Control for a Class of Nonlinear Systems

Anqing Wang, Lu Liu, Jian-Bin Qiu, G. Feng

IEEE transactions on fuzzy systems

DOI

2019

Observer-based Adaptive Fuzzy Output Feedback Control for Uncertain Nonlinear Systems with Constrained Output

Anqing Wang, Lu Liu, Jian-Bin Qiu, G. Feng

IEEE International Conference on Systems, Man and Cybernetics

DOI

2017

Decentralized Fixed-Order Piecewise Affine Dynamic Output Feedback Controller Design for Discrete-Time Nonlinear Large-Scale Systems

Wen-Qiang Ji, Anqing Wang, Jian-Bin Qiu

IEEE Access

DOI

2017

Fixed-order output feedback controller design for discrete-time T-S fuzzy affine systems using quantized measurements

Wen-Qiang Ji, Jian-Bin Qiu, Tong Wang, Anqing Wang

2017 13th IEEE International Conference on Control & Automation (ICCA)

DOI

2017

A novel dynamic state feedback controller for discrete-time T-S fuzzy affine systems

Wen-Qiang Ji, Anqing Wang, Jian-Bin Qiu

International Conference on Information and Software Technologies

DOI

Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments

Anqing Wang, Longwei Li, H. Wang, Bing Han, Zhouhua Peng

精选作品

期刊论文

智能船舶人机共融航行控制技术研究现状与展望

Parallel path maneuvering control of cyber–physical autonomous surface vehicles based on model-agnostic meta-learning predictor

Parallel automatic berthing control of maritime automatous surface ships via data-driven neural predictor

Model-free safe synchronization control of high-order nonlinear multi-agent systems based on finite-time data-driven fuzzy predictor

Safety-certified pursuit-evasion game of underactuated autonomous surface vehicles with experiments: A differential game approach with rate-tunable CBF optimization

NMPC-Based Dual-Channel Resilience Against False Data Injection in Pursuit–Evasion Games of Autonomous Surface Vehicles

REGNet: A Radar Evidence-Guided Network for Robust USV Perception in Adverse Weather

SAGA-3D: Semantic-Aligned Geometric Augmentation for Maritime 3D Detection

Digital Twin-enabled Parallel Collaborative Berthing Control of Autonomous Tugs Subject to Multiple Safety Constraints

Line-of-Sight Guidance Strategy for Collaborative Berthing of Autonomous Tugs

Breaking the orientation barrier: Multi-cognitive visual adaptation for autonomous surface vehicle perception via real–virtual fusion

Parallel Path Following Control of Maritime Autonomous Surface Ships With Dual Podded Propulsion System

Trajectory Tracking Control of Second-order Uncertain Nonlinear Systems based on Integral Concurrent Learning Predictor

Safety-Critical Perimeter-Defense Guidance of Autonomous Surface Vehicles Based on Nonlinear Model Predictive Control

Fully Distributed Event-Triggered Cooperative Target Enclosing Control for Underactuated ASVs Via Adaptive Observers

Collision-Free Guidance and Control for Collaborative Berthing of Autonomous Tugboats Based on Control Barrier Functions

Safety-Certified Cooperative Path Following of Networked Autonomous Surface Vehicles Based on Nash Equilibrium Seeking With Experiments

Efficient and Transferable Reinforcement Learning for Unmanned Surface Vehicles Via Differentiable Dynamics

基于动态事件触发的多无人船协同路径跟踪控制

Distributed consensus of nonlinear multi-agent systems based on data-driven fuzzy learning predictor

Pursuit-evasion game of under-actuated ASVs based on deep reinforcement learning and model predictive path integral control

Safety-Critical Control of Autonomous Surface Vehicles for Collaborative Transportation Based on Quadratic Programming

Teaching Model Innovation of “Fuzzy Control Theory and Applications” Driven by Science and Education Integration

Safety-Certified Target-Reaching of Autonomous Surface Vehicles Based on Optimal Heading Control Barrier Functions

Singularity-free adaptive fuzzy tracking control of an unmanned surface vehicle with adjustable prescribed performance

基于事件触发机制的多自主水下航行器协同路径跟踪控制

Constrained trajectory planning for automatic berthing of maritime autonomous surface ships based on input-to-state safe zeroing high order control barrier functions

Data-Driven Learning Fuzzy Output-Feedback Control with Prescribed Performance for Nonlinear Systems

Adaptive energy-efficient reinforcement learning for AUV 3D motion planning in complex underwater environments

Safety-critical anti-disturbance control of tugs for collaborative berthing

Safety-critical formation control of switching uncertain Euler-Lagrange systems with control barrier functions

Heterogeneous cross domain coordinated control of ASV-AUV system for maritime search and rescue

Parallel path following control of cyber-physical maritime autonomous surface ships based on deep neural predictor

Prescribed Performance Control of Second Order Nonlinear Multiagent Systems with Actuator Faults

Dynamic Sliding Mode-based Fault-Tolerant Control for Ship Dynamic Positioning Based on T-S Fuzzy Piecewise Affine Models

State and Disturbance Estimation of Autonomous Surface Vehicles based on Nonlinear Cascade Extended State Observers

Safety-Critical Pursuit-Evasion Differential Game Guidance for Multiple Underactuated Autonomous Surface Vehicles

Safety-Critical Game-Based Formation Control of Underactuated Autonomous Surface Vehicles

Multi-AUG three-dimensional path planning and secure cooperative path following under DoS attacks

Optimal Consensus Control for Continuous-Time Linear Multiagent Systems: A Dynamic Event-Triggered Approach

Discrete-Time Anti-Disturbance Heading Tracking Control of Autonomous Surface Vehicle

Safety-Critical Path Planning of Autonomous Surface Vehicles Based on Rapidly-Exploring Random Tree Algorithm and High Order Control Barrier Functions

Consensus of Uncertain Euler-Lagrange Multi-agent Systems under Switching Digraphs and Disturbances

多圆碟形水下滑翔机的双层协调三维路径规划

Safety-Critical Path Following Guidance of Intelligent Surface Vehicles for Automatic Docking Subject to Static and Dynamic Obstacles

Safe cooperative path following with relative-angle-based collision avoidance for multiple underactuated autonomous surface vehicles

Leader-Following Consensus of Multiple Uncertain Euler–Lagrange Systems via Fully Distributed Event-Triggered Adaptive Fuzzy Control

Safe Motion Planning for Goal Reaching of Multiple Autonomous Surface Vehicles Based on High-order Control Barrier Functions

Data-driven model-free resilient speed control of an autonomous surface vehicle in the presence of actuator anomalies.

Shared control of ship autopilots and human pilots for maritime autonomous surface ship in the presence of actuator anomalies

Cooperative Output Tracking of Heterogeneous Uncertain Nonlinear Multi-Agent Systems via Distributed Event-Triggered Adaptive Fuzzy Control

Cooperative Trajectory Tracking of Multiple Unmanned Surface Vehicles via Distributed Time-Varying Optimization

Learning to Control of an Under-actuated Autonomous Surface Vehicle Based on Model-based Deep Reinforcement Learning

几类不确定非线性系统的事件触发自适应模糊控制研究

Finite-Time Adaptive Fuzzy Control for Nonstrict-Feedback Nonlinear Systems Via an Event-Triggered Strategy

Event-Triggered Adaptive Fuzzy Output-Feedback Control for Nonstrict-Feedback Nonlinear Systems With Asymmetric Output Constraint

Event-Triggered Robust Adaptive Fuzzy Control for a Class of Nonlinear Systems

Observer-based Adaptive Fuzzy Output Feedback Control for Uncertain Nonlinear Systems with Constrained Output

Decentralized Fixed-Order Piecewise Affine Dynamic Output Feedback Controller Design for Discrete-Time Nonlinear Large-Scale Systems

Fixed-order output feedback controller design for discrete-time T-S fuzzy affine systems using quantized measurements

A novel dynamic state feedback controller for discrete-time T-S fuzzy affine systems

Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments

会议论文

Autonomous Docking for Maritime Autonomous Surface Ships Based on Dynamic Vector Field and Control Barrier Functions

Predictor-based Safety-Critical Formation Control of Switched Uncertain Euler-Lagrange Systems

Safety-critical Line-of-sight Path Following Guidance of an Under-actuated Maritime Autonomous Surface Ship Based on Robust Optimization

Safety-critical Path Planning and Following of Maritime Autonomous Surface Ships for Automatic Docking

Multi-USV Formation Reconfiguration Based on Guiding Vector Fields and Control Barrier Functions

Safety-Critical Guidance of Maritime Autonomous Surface Ship for Automatic Docking Based on Control Barrier Functions

Adaptive Fuzzy Control for Nonlinear Systems in Nonstrict-Feedback Form with Full State Constraints:A Feasibility Condition Free Approach

研究方向