{"id":"https://openalex.org/W2571224963","doi":"https://doi.org/10.1109/iecon.2016.7793495","title":"A comparison of robotic fish speed control based on analytical and empirical models","display_name":"A comparison of robotic fish speed control based on analytical and empirical models","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2571224963","doi":"https://doi.org/10.1109/iecon.2016.7793495","mag":"2571224963"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2016.7793495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020258288","display_name":"Saurab Verma","orcid":"https://orcid.org/0000-0003-4325-7490"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Saurab Verma","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100768355","display_name":"Jian\u2010Xin Xu","orcid":"https://orcid.org/0000-0002-9485-5880"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jian-Xin Xu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041199618","display_name":"Qinyuan Ren","orcid":"https://orcid.org/0000-0001-9487-2675"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinyuan Ren","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113081539","display_name":"Wee Beng Tay","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wee Beng Tay","raw_affiliation_strings":["Temasek Laboratories, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Temasek Laboratories, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074009647","display_name":"Feng Lin","orcid":"https://orcid.org/0000-0001-9929-8721"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Feng Lin","raw_affiliation_strings":["Temasek Laboratories, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Temasek Laboratories, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2016","issue":null,"first_page":"6055","last_page":"6060"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.7844679355621338},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6384109258651733},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5687297582626343},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.535503625869751},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4969950020313263},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4748801589012146},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4738239049911499},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.436303973197937},{"id":"https://openalex.org/keywords/linear-dynamical-system","display_name":"Linear dynamical system","score":0.4284760355949402},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27333909273147583},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26200324296951294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23848766088485718},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22078940272331238},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19385173916816711},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11221778392791748}],"concepts":[{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.7844679355621338},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6384109258651733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5687297582626343},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.535503625869751},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4969950020313263},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4748801589012146},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4738239049911499},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.436303973197937},{"id":"https://openalex.org/C114275822","wikidata":"https://www.wikidata.org/wiki/Q621512","display_name":"Linear dynamical system","level":3,"score":0.4284760355949402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27333909273147583},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26200324296951294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23848766088485718},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22078940272331238},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19385173916816711},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11221778392791748},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iecon.2016.7793495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},{"id":"mag:2911837780","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/20090422/201702224431535742","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.7900000214576721,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1222777903","https://openalex.org/W1568685595","https://openalex.org/W1911898688","https://openalex.org/W1967702206","https://openalex.org/W1971137449","https://openalex.org/W2007361901","https://openalex.org/W2014546372","https://openalex.org/W2016382353","https://openalex.org/W2031022336","https://openalex.org/W2040316861","https://openalex.org/W2048456511","https://openalex.org/W2048954198","https://openalex.org/W2069744451","https://openalex.org/W2109976067","https://openalex.org/W2117289015","https://openalex.org/W2293860582","https://openalex.org/W2296768998","https://openalex.org/W2343854644"],"related_works":["https://openalex.org/W2997463204","https://openalex.org/W1541871911","https://openalex.org/W2050811761","https://openalex.org/W2230606337","https://openalex.org/W2119813522","https://openalex.org/W2573078457","https://openalex.org/W2505854718","https://openalex.org/W2044696633","https://openalex.org/W4238935091","https://openalex.org/W2592826714"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,43,84,143],"comparative":[4,107],"study":[5,103],"of":[6,20,28,150],"speed":[7,146,197],"control":[8],"efficiencies":[9],"based":[10,177,186],"on":[11,178,187],"two":[12,37,135,166],"dynamical":[13,21,167],"models":[14,22,168],"is":[15,23,34,61,99],"presented.":[16],"The":[17,30],"common":[18],"structure":[19],"developed":[24,94,163],"using":[25,36],"first":[26],"principles":[27],"physics.":[29],"complex":[31],"thrust":[32,58,104],"mechanism":[33,105],"studied":[35],"different":[38],"techniques.":[39],"First,":[40],"we":[41],"apply":[42],"novel":[44],"data-driven":[45,179],"approach":[46],"to":[47,63,73,87,102,183,198],"build":[48],"up":[49],"the":[50,65,79,89,110,134,139,151,165,184,188,194,200],"non-linear":[51,153],"mapping":[52],"between":[53],"tail":[54],"angular":[55],"motion":[56,118],"and":[57],"generated,":[59],"which":[60],"essential":[62],"specify":[64],"input":[66,80,86],"gradient.":[67],"Further,":[68],"additional":[69],"experiments":[70],"are":[71,162],"designed":[72],"acquire":[74],"data":[75],"necessary":[76],"for":[77,106,128],"modelling":[78],"delay":[81],"factor":[82],"causing":[83],"time-delayed":[85],"drive":[88],"system":[90,154],"output.":[91],"Second,":[92],"analytically":[93],"Lighthill's":[95,189],"slender":[96],"body":[97],"theory":[98,111],"also":[100],"employed":[101],"purposes.":[108],"Though":[109],"has":[112],"been":[113],"used":[114],"in":[115,142],"robotic":[116,144,195],"fish":[117,131,145],"studies,":[119],"it":[120],"was":[121],"originally":[122],"formulated":[123],"as":[124,169],"an":[125],"analytical":[126],"tool":[127],"studying":[129],"biological":[130],"motion.":[132],"Comparing":[133],"theories":[136],"help":[137],"understand":[138],"predominant":[140],"features":[141],"control.":[147],"Lastly,":[148],"because":[149],"highly":[152],"dynamics,":[155],"robust":[156],"discrete-time":[157],"Sliding":[158],"Mode":[159],"Controllers":[160],"(SMC)":[161],"with":[164],"basis":[170],"respectively.":[171],"Experimental":[172],"verifications":[173],"confirm":[174],"that":[175],"SMC":[176,185],"model":[180],"performs":[181],"superior":[182],"theory,":[190],"by":[191],"efficiently":[192],"controlling":[193],"fish's":[196],"track":[199],"time-varying":[201],"reference":[202],"speeds.":[203]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
