海洋机器人技术与应用
航行操纵、制导与控制
系统辨识理论及其应用

主持国家自然科学基金面上项目、国家自然科学基金青年科学基金项目、上海市自然科学基金面上项目、上海市扬帆计划等；参与上海交通大学“交大2030”计划等项目。

Yu, C., Zhong, Y., Lian, L.*, & Xiang, X.* (2023). Adaptive simplified surge-heading tracking control for underwater vehicles with thruster's dead-zone compensation. Nonlinear Dynamics, 111(14), 13073-13088.
Yu, C., Zhong, Y., Lian, L.*, & Xiang, X. (2021). An experimental study of adaptive bounded depth control for underwater vehicles subject to thruster's dead-zone and saturation. Applied Ocean Research, 117, 102947.
Yu, C., Xiang, X.*, Wilson, P. A., & Zhang, Q. (2020). Guidance-error-based robust fuzzy adaptive control for bottom following of a flight-style AUV with saturated actuator dynamics. IEEE Transactions on Cybernetics, 50(5), 1887-1899.
Yu, C., Liu, C., Lian, L.*, Xiang, X., & Zeng, Z. (2019). ELOS-based path following control for underactuated surface vehicles with actuator dynamics. Ocean Engineering, 187, 106139.
Yu, C., Xiang, X.*, Lapierre, L., & Zhang, Q. (2018). Robust magnetic tracking of subsea cable by AUV in the presence of sensor noise and ocean currents. IEEE Journal of Oceanic Engineering, 43(2), 311-322.

学生指导：
Pei, T., Yu, C.*, Zhong, Y., Lian, L., & Xiang, X. (2023). A self-error corrector integrating K-means clustering with Markov model for marine craft maneuvering prediction with experimental verification. Ocean Engineering, 285(2), 115420.
Pei, T., Yu, C.*, Zhong, Y., & Lian, L. (2023). Adaptive event-triggered mechanism-based online system identification framework for marine craft. Ocean Engineering, 278, 114572.
Li, M., Yu, C.*, Zhang, X., Liu, C., & Lian, L. (2023). Fuzzy adaptive trajectory tracking control of work-class ROVs considering thruster dynamics. Ocean Engineering, 267, 113232.
Zhong, Y., Yu, C.*, Wang, R., Pei, T., & Lian, L. (2023). Adaptive anti-noise least-squares algorithm for parameter identification of unmanned marine vehicles: Theory, simulation, and experiment. International Journal of Fuzzy Systems, 25(1), 369-381.
Zhong, Y., Yu, C.*, Wang, R., Liu, C., & Lian, L. (2022). Adaptive depth tracking of underwater vehicles considering actuator saturation: Theory, simulation and experiment. Ocean Engineering, 265, 112517.