乔磊｜江南大学｜学者主页

2026

A Scalable Multi-UUVs Collaborative Multi-Objective Area Protection Framework Using Multi-Task MADRL

Wenhao Gan, Kai Guo, Lei Qiao

IEEE Transactions on Mobile Computing

DOI

2026

Scalable Many-to-Many AUV Hunt-Evasion Game via MADRL With Phased Objectives

Wenhao Gan, Kai Guo, Lei Qiao

IEEE Transactions on Network Science and Engineering

DOI

2026

An Adaptive AUV Hunting Strategy for High-Mobility Target With Hierarchical MADRL

Wenhao Gan, Kai Guo, Lei Qiao

IEEE Transactions on Aerospace and Electronic Systems

DOI

2026

Six‐Dimensional Digital Twin System for Autonomous Underwater Vehicles: Conceptualization and Twin Experiments

Lin Yu, Lei Qiao

Journal of Field Robotics

DOI

2026

Terrain-Aided Navigation Based on Particle Filter With Relocation Function

Xiu-Jun Chai, Yuan-Long Li, Lei Qiao, Yan-Ji Liu

IEEE Transactions on Instrumentation and Measurement

DOI

2026

Distributed Target-Enclosing Formation Maneuver Control for Multiple AUVs With Prescribed Convergence Time

Ming-Qi Yao, Guo-Qing Zhang, E. Q. Wu, Lei Qiao

IEEE Internet of Things Journal

DOI

2026

Practical Prescribed-Time Tracking Control for Nonlinear Systems With Prescribed Transient Performance

Xiu-Jun Chai, Yuan-Long Li, Lei Qiao

IEEE transactions on industrial electronics (1982. Print)

DOI

2026

Attention-Guided and Role-Aware Reinforcement Learning for Multi-AUV Counter-Game.

Wenhao Gan, Kai Guo, Lei Qiao

IEEE Transactions on Neural Networks and Learning Systems

DOI

2026

Distributed Affine Formation Security Control for Multiple AUVs With Deception Attacks

Ming-Qi Yao, Kai Guo, Hong-Jun Chu, Wei-Dong Zhang, Lei Qiao

IEEE Transactions on Systems, Man & Cybernetics. Systems

DOI

2026

Terrain-Aided Navigation Based on Sequential Multiple Distribution Estimation Filter: Theory and Experiment

Xiu-Jun Chai, Yuan-Long Li, Lei Qiao, Yan-Ji Liu

IEEE/ASME transactions on mechatronics

DOI

2025

Distributed Two-Layered Leader–Follower Affine Formation Control for Multiple AUVs in 3-D Space

Ming-Qi Yao, Lin Yu, Kai Guo, Yu Lu, Wei-Dong Zhang, Lei Qiao

IEEE Transactions on Systems, Man & Cybernetics. Systems

DOI

2025

High-Speed Obstacle Avoidance of a Large-Scale Underactuated Autonomous Underwater Vehicle Under a Finite Field of View

Lin Yu, Lei Qiao, Chao Shen

IEEE Transactions on Automation Science and Engineering

DOI

2025

An Adaptive Deep Reinforcement Learning Framework for AUV Attack-Defense Games

Wenhao Gan, Lei Qiao

IEEE transactions on intelligent transportation systems (Print)

DOI

2025

Direction-Guided Model Predictive Planning for High-Speed Obstacle Avoidance of Extra-Large AUVs

Lin Yu, Lei Qiao, Chao Shen

Journal of Physics, Conference Series

DOI

2025

Many-Versus-Many AUV Attack-Defense Game in 3-D Scenarios Using Hierarchical Multiagent Reinforcement Learning

Wenhao Gan, Lei Qiao

IEEE Internet of Things Journal

DOI

2025

Fast and Accurate Trajectory Tracking Control for Underactuated AUVs With Mismatched Disturbances: Theory and Experiment

Panzhao Chen, Lin Yu, Kai Guo, Lei Qiao

IEEE transactions on industrial electronics (1982. Print)

DOI

2024

Distributed Adaptive Integral Sliding Mode Affine Formation Maneuver Control for Multiple AUVs With Event-Triggered Chattering- Reduction Mechanism

Ming-Qi Yao, Kai Guo, Yu Lu, Wei-Dong Zhang, Lei Qiao

IEEE Transactions on Vehicular Technology

DOI

2024

Obstacle Avoidance for a Large-Scale High-Speed Underactuated AUV in Complex Environments

Lin Yu, Lei Qiao, Chao Shen

IEEE transactions on intelligent transportation systems (Print)

DOI

2024

Biomimetic Robotic Remora With Hitchhiking Ability: Design, Control and Experiment

Tongxue Tan, Lin Yu, Kai Guo, Xu-Yang Wang, Lei Qiao

IEEE Robotics and Automation Letters

DOI

2022

Adaptive barrier Lyapunov function-based obstacle avoidance control for an autonomous underwater vehicle with multiple static and moving obstacles

Jianyu Liu, Min Zhao, Lei Qiao

Ocean Engineering

DOI

2022

Terrain-assisted navigation of long-range AUV based on intelligent particle filter

Xiu-Jun Chai, Yuan-Long Li, Lei Qiao

Asian Control Conference

DOI

2022

Multitask Cooperative Formation Control of Autonomous Surface Vehicles With Interception of Moving Objects

Xiaotong Cheng, Yu Lu, Lei Qiao, Zhihuan Hu, Wei-Dong Zhang

IEEE Journal of Oceanic Engineering

DOI

2022

Event-Triggered Adaptive Formation Keeping and Interception Scheme for Autonomous Surface Vehicles Under Malicious Attacks

Yu Lu, R. Su, Cheng-Xi Zhang, Lei Qiao

IEEE Transactions on Industrial Informatics

DOI

2022

Adaptive output feedback super twisting algorithm for trajectory tracking control of USVs with saturated constraints

Gang Cao, Jian Yang, Lei Qiao, Ziheng Yang, Wei-Dong Zhang

Ocean Engineering

DOI

2021

Robust adaptive formation tracking of autonomous surface vehicles with guaranteed performance and actuator faults

Yu Lu, Xinli Xu, Lei Qiao, Wei-Dong Zhang

DOI

2021

Adaptive PID control of robotic manipulators without equality/inequality constraints on control gains

Lei Qiao, Min Zhao, Chao Wu, T. Ge, Rui-feng Fan, Wei-Dong Zhang

International Journal of Robust and Nonlinear Control

DOI

2020

Adaptive Cooperative Formation Control of Autonomous Surface Vessels With Interception of Moving Objects

Xiaotong Cheng, Yu Lu, Lei Qiao, Wei-Dong Zhang

Global Oceans 2020: Singapore – U.S. Gulf Coast

DOI

2020

Trajectory Tracking Control of AUVs via Adaptive Fast Nonsingular Integral Terminal Sliding Mode Control

Lei Qiao, Wei-Dong Zhang

IEEE Transactions on Industrial Informatics

DOI

2020

Adaptive tracking control of unmanned underwater vehicles with compensation for external perturbations and uncertainties using Port-Hamiltonian theory

Zehua Jia, Lei Qiao, W. Zhang

DOI

2019

Double-Loop Integral Terminal Sliding Mode Tracking Control for UUVs With Adaptive Dynamic Compensation of Uncertainties and Disturbances

Lei Qiao, W. Zhang

IEEE Journal of Oceanic Engineering

DOI

2019

Adaptive Second-Order Fast Nonsingular Terminal Sliding Mode Tracking Control for Fully Actuated Autonomous Underwater Vehicles

Lei Qiao, W. Zhang

IEEE Journal of Oceanic Engineering

DOI

2018

Fast Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles

Lei Qiao, W. Zhang

2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS)

DOI

2018

Adaptive output-feedback formation control for underactuated surface vessels

Yu Lu, Guoqing Zhang, Lei Qiao, W. Zhang

International Journal of Control

DOI

2018

Robust adaptive trajectory tracking control of underactuated surface vessel in fields of marine practice

Zhijian Sun, Guoqing Zhang, Lei Qiao, W. Zhang

Journal of Marine Science and Technology

DOI

2018

Robust H2 optimal depth control of an autonomous underwater vehicle with output disturbances and time delay

Lei Qiao, Shi-Tao Ruan, Guo-Qing Zhang, Wei-Dong Zhang

Ocean Engineering

DOI

2017

Design of three exponentially convergent robust controllers for the trajectory tracking of autonomous underwater vehicles

Lei Qiao, Bowen Yi, Defeng Wu, Wei-Dong Zhang

DOI

2017

Active disturbance rejection controller design for dynamically positioned vessels based on adaptive hybrid biogeography-based optimization and differential evolution.

Defeng Wu, Fengkun Ren, Lei Qiao, W. Zhang

ISA transactions

DOI

2017

Adaptive non‐singular integral terminal sliding mode tracking control for autonomous underwater vehicles

Lei Qiao, W. Zhang

IET Control Theory & Applications

DOI

2016

Two-time scale path following of underactuated marine surface vessels: Design and stability analysis using singular perturbation methods

Bowen Yi, Lei Qiao, W. Zhang

DOI

2016

Robust adaptive PID control for positioning of remotely operated vehicle working in close proximity of an underwater structure

Lei Qiao, Lixing Zhang, Wei-Dong Zhang

Cybersecurity and Cyberforensics Conference

DOI

2016

Double-loop chattering-free adaptive integral sliding mode control for underwater vehicles

Lei Qiao, W. Zhang

Oceans

DOI

2016

Neural-network-based reinforcement learning control for path following of underactuated ships

Lixing Zhang, Lei Qiao, Jianliang Chen, W. Zhang

Cybersecurity and Cyberforensics Conference

DOI

2015

Dynamical sliding mode control for the trajectory tracking of underactuated unmanned underwater vehicles

Jian Xu, Man Wang, Lei Qiao

DOI

2014

Control of fully actuated UUV using a linear interpolation approach

Jian Xu, Man Wang, Lei Qiao

Cybersecurity and Cyberforensics Conference

DOI

2013

Robust Adaptive PID Control of Robot Manipulator with Bounded Disturbances

Jian Xu, Lei Qiao

DOI

精选作品

期刊论文

A Scalable Multi-UUVs Collaborative Multi-Objective Area Protection Framework Using Multi-Task MADRL

Scalable Many-to-Many AUV Hunt-Evasion Game via MADRL With Phased Objectives

An Adaptive AUV Hunting Strategy for High-Mobility Target With Hierarchical MADRL

Six‐Dimensional Digital Twin System for Autonomous Underwater Vehicles: Conceptualization and Twin Experiments

Terrain-Aided Navigation Based on Particle Filter With Relocation Function

Distributed Target-Enclosing Formation Maneuver Control for Multiple AUVs With Prescribed Convergence Time

Practical Prescribed-Time Tracking Control for Nonlinear Systems With Prescribed Transient Performance

Attention-Guided and Role-Aware Reinforcement Learning for Multi-AUV Counter-Game.

Distributed Affine Formation Security Control for Multiple AUVs With Deception Attacks

Terrain-Aided Navigation Based on Sequential Multiple Distribution Estimation Filter: Theory and Experiment

Distributed Two-Layered Leader–Follower Affine Formation Control for Multiple AUVs in 3-D Space

High-Speed Obstacle Avoidance of a Large-Scale Underactuated Autonomous Underwater Vehicle Under a Finite Field of View

An Adaptive Deep Reinforcement Learning Framework for AUV Attack-Defense Games

Direction-Guided Model Predictive Planning for High-Speed Obstacle Avoidance of Extra-Large AUVs

Many-Versus-Many AUV Attack-Defense Game in 3-D Scenarios Using Hierarchical Multiagent Reinforcement Learning

Fast and Accurate Trajectory Tracking Control for Underactuated AUVs With Mismatched Disturbances: Theory and Experiment

Distributed Adaptive Integral Sliding Mode Affine Formation Maneuver Control for Multiple AUVs With Event-Triggered Chattering- Reduction Mechanism

Obstacle Avoidance for a Large-Scale High-Speed Underactuated AUV in Complex Environments

Biomimetic Robotic Remora With Hitchhiking Ability: Design, Control and Experiment

Adaptive barrier Lyapunov function-based obstacle avoidance control for an autonomous underwater vehicle with multiple static and moving obstacles

Terrain-assisted navigation of long-range AUV based on intelligent particle filter

Multitask Cooperative Formation Control of Autonomous Surface Vehicles With Interception of Moving Objects

Event-Triggered Adaptive Formation Keeping and Interception Scheme for Autonomous Surface Vehicles Under Malicious Attacks

Adaptive output feedback super twisting algorithm for trajectory tracking control of USVs with saturated constraints

Robust adaptive formation tracking of autonomous surface vehicles with guaranteed performance and actuator faults

Adaptive PID control of robotic manipulators without equality/inequality constraints on control gains

Adaptive Cooperative Formation Control of Autonomous Surface Vessels With Interception of Moving Objects

Trajectory Tracking Control of AUVs via Adaptive Fast Nonsingular Integral Terminal Sliding Mode Control

Adaptive tracking control of unmanned underwater vehicles with compensation for external perturbations and uncertainties using Port-Hamiltonian theory

Double-Loop Integral Terminal Sliding Mode Tracking Control for UUVs With Adaptive Dynamic Compensation of Uncertainties and Disturbances

Adaptive Second-Order Fast Nonsingular Terminal Sliding Mode Tracking Control for Fully Actuated Autonomous Underwater Vehicles

Fast Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles

Adaptive output-feedback formation control for underactuated surface vessels

Robust adaptive trajectory tracking control of underactuated surface vessel in fields of marine practice

Robust H2 optimal depth control of an autonomous underwater vehicle with output disturbances and time delay

Design of three exponentially convergent robust controllers for the trajectory tracking of autonomous underwater vehicles

Active disturbance rejection controller design for dynamically positioned vessels based on adaptive hybrid biogeography-based optimization and differential evolution.

Adaptive non‐singular integral terminal sliding mode tracking control for autonomous underwater vehicles

Two-time scale path following of underactuated marine surface vessels: Design and stability analysis using singular perturbation methods

Robust adaptive PID control for positioning of remotely operated vehicle working in close proximity of an underwater structure

Double-loop chattering-free adaptive integral sliding mode control for underwater vehicles

Neural-network-based reinforcement learning control for path following of underactuated ships

Dynamical sliding mode control for the trajectory tracking of underactuated unmanned underwater vehicles

Control of fully actuated UUV using a linear interpolation approach

Robust Adaptive PID Control of Robot Manipulator with Bounded Disturbances

会议论文

Control Strategies for Target-Attacker-Defender Games of USVs