王龙金，副教授/博士/硕士生导师

电话：15265258677邮箱：wljwlj1984@126.com

研究方向：

主要从事无人海洋运载器导航、制导与控制研究，研究内容涵盖船舶自主航行、船舶动力定位控制、无人艇自主航行控制及无人运载器路径规划等关键技术。

主持或参加科研项目情况:

1. 山东省重点研发计划，复杂海况下船舶高精度航迹控制及节能技术研发，主持

2.军委科技委国防前沿创新计划子课题，原理样机信息接口装置及软件，主持

3.军工项目，智能无人靶船控制系统研制，主持

4.军工项目，无人艇运动仿真系统设计与分析，主持

5.军工项目，无人艇容错控制技术研究与仿真分析，主持

6.青岛市重点学科建设项目，船舶智能驾驶控制设备研制及产业化，主持

7.青岛市重点学科建设项目，多功能智能无人船舶研制及产业化，参与

8.青岛市青年基金，基于柔性操纵翼面潜艇控制技术研究，主持

代表性论文

[1] An Shun, Zhang Mingjian, Wang Longjin*, et al. Multi-Stage Auxiliary Model Based Recursive Least Squares Estimation for Pseudo-Linear System With ARMA Noise[J]. International Journal of Adaptive Control and Signal Processing, 2025.

[2] Wang Longjin, Wang Zhiyang, Liu Yang, An Shun*, et al. Improved APF-based real-time path planning and control of underactuated AUVs in complex marine environments[J]. Measurement Science and Technology, 2025, 36(4): 046209.

[3] An Shun, Liu Yang, He Yan, Wang Longjin*. Adaptive Fixed-Time Disturbance Observer Based Optimal Sliding Mode Control for Dynamic Positioning Ships With Uncertainties and External Disturbances[J]. Optimal Control Applications and Methods, 2025.

[4] An Shun, Zhang Mingjian, Wang Longjin*. Adaptive fuzzy event-triggered fast fixed-time filtering backstepping formation control for underactuated USVs with LOS range and bearing angle constraints[J]. Ocean Engineering, 2025, 325: 120674.

[5] Liu Yang, Wang Longjin*, An Shun, et al. Parameter identification of vertical plane model for autonomous underwater vehicle based on hierarchical multi-innovation stochastic gradient algorithm[J]. Measurement, 2025, 252: 117316.

[6] Liu Yang, An Shun, Wang Longjin*, et al. Predefined time sliding mode tracking control of autonomous underwater vehicles with uncertainties and disturbances[J]. Ocean Engineering, 2025, 331: 121318.

[7] Liu Yang, An Shun, Wang Longjin*, et al. Predefined time backstepping control with an adaptive predefined time disturbance observer for underactuated AUV under unknown external disturbance[J]. Ocean Engineering, 2025, 340: 122382.

[8] Liu Yang, Wang Longjin*, An Shun, et al. Trajectory tracking control of autonomous underwater vehicles based on a predefined time control strategy[J]. Measurement Science and Technology, 2025.

[9] Liu Yang, An Shun, Wang Longjin*. Two-stage recursive least squares algorithm for identifying ship motion parameters and wave peak frequency[J]. Ships and Offshore Structures, 2025: 1-13.

[10] Wang Longjin, Wang Qingyang, An Shun, et al. Free will arbitrary time sliding mode control of autonomous underwater vehicle with external disturbances[J]. Measurement Science and Technology, 2025.

[11] Liu Yang, An Shun, Wang Longjin*, et al. Maneuverability prediction of ship nonlinear motion models based on parameter identification and optimization[J]. Measurement, 2024, 236: 115033.

[12] Liu Yang, An Shun, Wang Longjin*, et al. Parameter identification algorithm for ship manoeuvrability and wave peak model based multi-innovation stochastic gradient algorithm use data filtering technique[J]. Digital Signal Processing, 2024, 148: 104445.

[13] Liu Yang, Zhang Qiang, Wang Longjin*, et al. Identification of multi-innovation stochastic gradients with maximum likelihood algorithm based on ship maneuverability and wave peak models[J]. Journal of Marine Science and Engineering, 2024, 12(1): 142.

[14] An Shun, Wang Xiaoyuan, Wang Longjin*, et al. Observer based fixed-time integral sliding mode tracking control for underactuated AUVs via an event-triggered mechanism[J]. Ocean Engineering, 2023, 284: 115158.

[15] An Shun, Wang Longjin, He Y,an et al. The Auxiliary Model Based Hierarchical Estimation Algorithms for Wave Peak Frequency Identification[J]. International Journal of Control, Automation and Systems, 2023, 21(3): 745-754.

[16] Wang Longjin, An Shun, He Yan, et al. The Filtering Based Maximum Likelihood Recursive Least Squares Parameter Estimation Algorithms for a Class of Nonlinear Stochastic Systems with Colored Noise[J]. International Journal of Control, Automation and Systems, 2023, 21(1): 151-160.

[17] An, Shun; Liu, Yang; Wang, Xiaoyuan; Fan, Zhimin; Zhang, Qiang; He, Yan; Wang, Longjin*. Distributed Event-Triggered Fixed-Time Leader–Follower Formation Tracking Control of Multiple Underwater Vehicles Based on an Adaptive Fixed-Time Observer. J. Mar. Sci. Eng. 2023, 11, 1522.

[18] An Shun, Wang Longjin*, He Yan. Filtering-based maximum likelihood hierarchical recursive identification algorithms for bilinear stochastic systems[J]. Nonlinear Dynamics, 2023: 1-16.

[19] An Shun, He Yan, Wang Longjin*. Maximum likelihood based multi‐innovation stochastic gradient identification algorithms for bilinear stochastic systems with ARMA noise[J]. International Journal of Adaptive Control and Signal Processing.

[20] An Shun, Wang Longjin*, He Yan. Robust fixed-time tracking control for underactuated AUVs based on fixed-time disturbance observer[J]. Ocean Engineering, 2022, 266: 112567.

[21] Zhan Bangshun, An Shun, He Yan, and Longjin Wang*. Three-Dimensional Path Planning for AUVs Based on Standard Particle Swarm Optimization Algorithm[J]. Journal of Marine Science and Engineering, 2022, 10(9): 1253.

[22] Shun An, Longjin Wang, Yan He, and Jianping Yuan*, Adaptive Backstepping Sliding Mode Tracking Control For Autonomous Underwater Vehicles With Input Quantization, Advanced Theory and Simulations, 2022, 5(4): 2100445.

[23] Jianping Yuan, Shun An, Xinxiang Pan, Hongfei Mao, and Longjin Wang, A Wave Peak Frequency Tracking Method Based on Two-Stage Recursive Extended Least Squares Identification Algorithm, IEEE Access, 2021, 9: 86514-86522.

[24] Chunqiu Guo, Longjin Wang*, Fang Deng, The Auxiliary Model Based Hierarchical Estimation Algorithms for Bilinear Stochastic Systems with Colored Noises, International Journal of Control, Automation and Systems, 2020, 18(3): 650-660.

[25] Longjin Wang*, Yan Ji, Hualin Yang, Ling Xu, Decomposition-based multiinnovation gradient identification algorithms for a special bilinear system based on its input-output representation, International Journal of Robust and Nonlinear Control, 2020, 30(9): 3607-3623.

[26] Longjin Wang*, Yan Ji, Lijuan Wan, Ni Bu, Hierarchical recursive generalized extended least squares estimation algorithms for a class of nonlinear stochastic systems with colored noise, Journal of the Franklin Institute, 2019, 356(16): 10102-10122.

[27] Longjin Wang, Yan He*, Recursive Least Squares Parameter Estimation Algorithms for a Class of Nonlinear Stochastic Systems With Colored Noise Based on the Auxiliary Model and Data Filtering, IEEE Access, 2019, 7: 181295-181304.