{"id":"https://openalex.org/W2995992902","doi":"https://doi.org/10.1109/iecon.2019.8927738","title":"Model Predictive Tracking Control Design for a Robotic Fish with Controllable Barycentre","display_name":"Model Predictive Tracking Control Design for a Robotic Fish with Controllable Barycentre","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2995992902","doi":"https://doi.org/10.1109/iecon.2019.8927738","mag":"2995992902"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2019.8927738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2019.8927738","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"article","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/A5027505331","display_name":"Xingwen Zheng","orcid":"https://orcid.org/0000-0003-4993-1896"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingwen Zheng","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001058965","display_name":"Hua Chen","orcid":"https://orcid.org/0000-0002-4252-8693"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hua Chen","raw_affiliation_strings":["Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100880850","display_name":"Jiao Ouyang","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ouyang Jiao","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101071477","display_name":"Minglei Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minglei Xiong","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Boya Gongdao (Beijing) Robot Technology Co., Ltd., Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Boya Gongdao (Beijing) Robot Technology Co., Ltd., Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100441694","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-7511-2870"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044920558","display_name":"Guangming Xie","orcid":"https://orcid.org/0000-0001-6504-0087"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xie","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Institute of Ocean Research, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Institute of Ocean Research, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.78464951,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"34","issue":null,"first_page":"5237","last_page":"5242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.849506139755249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6332539319992065},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6167246103286743},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5877834558486938},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5419832468032837},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5083691477775574},{"id":"https://openalex.org/keywords/rectangle","display_name":"Rectangle","score":0.49171286821365356},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4295576810836792},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4158768653869629},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40159177780151367},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17821305990219116},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1366598904132843}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.849506139755249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6332539319992065},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6167246103286743},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5877834558486938},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5419832468032837},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5083691477775574},{"id":"https://openalex.org/C2781302577","wikidata":"https://www.wikidata.org/wiki/Q209","display_name":"Rectangle","level":2,"score":0.49171286821365356},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4295576810836792},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4158768653869629},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40159177780151367},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17821305990219116},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1366598904132843},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2019.8927738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2019.8927738","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W796978335","https://openalex.org/W873808170","https://openalex.org/W921373215","https://openalex.org/W1512273979","https://openalex.org/W1590684588","https://openalex.org/W2001471851","https://openalex.org/W2074162720","https://openalex.org/W2134919690","https://openalex.org/W2200407584","https://openalex.org/W2293860582","https://openalex.org/W2526022587","https://openalex.org/W2539578877","https://openalex.org/W2751355297","https://openalex.org/W2757935016","https://openalex.org/W2774922731","https://openalex.org/W2792969186","https://openalex.org/W2889738019","https://openalex.org/W2900289599","https://openalex.org/W2921814844","https://openalex.org/W2989986341","https://openalex.org/W3037709337","https://openalex.org/W3150337752","https://openalex.org/W6744302157"],"related_works":["https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W2996812256","https://openalex.org/W2525543468","https://openalex.org/W2026490863","https://openalex.org/W2161688277","https://openalex.org/W1996877595"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"the":[5,29,36,65,72,82],"dynamic":[6,26,37],"modeling":[7],"and":[8,58,88],"model":[9,27,40],"predictive":[10,41],"tracking":[11,42,51,80,96],"control":[12,43],"for":[13,28,97],"a":[14,25,39],"fin-actuated":[15],"robot":[16,30,83,100],"with":[17,84,101],"barycentre":[18,103],"regulating":[19],"mechanism":[20],"in":[21,104],"multiple":[22,105],"motions.":[23],"Specifically,":[24],"is":[31,45,75],"established":[32],"firstly.":[33],"Based":[34],"on":[35],"model,":[38],"algorithm":[44,74],"proposed.":[46],"And":[47],"simulations":[48],"of":[49,50,81],"rectangle":[52],"trajectory,":[53,55,57],"sine-like":[54],"ascending":[56],"spiral":[59],"trajectory":[60,79,95],"are":[61],"conducted":[62],"to":[63,77,94],"validate":[64],"algorithm.":[66],"The":[67],"simulation":[68],"results":[69],"demonstrate":[70],"that":[71],"proposed":[73],"able":[76],"implement":[78],"small":[85],"position":[86],"error":[87],"orientation":[89],"error.":[90],"This":[91],"paper":[92],"contributes":[93],"an":[98],"underwater":[99],"controllable":[102],"motions,":[106],"which":[107],"has":[108],"been":[109],"rarely":[110],"explored.":[111]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
