{"id":"https://openalex.org/W4416749200","doi":"https://doi.org/10.1109/iros60139.2025.11245915","title":"Data-Driven MPC for Attitude Control of Autonomous Underwater Robot","display_name":"Data-Driven MPC for Attitude Control of Autonomous Underwater Robot","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749200","doi":"https://doi.org/10.1109/iros60139.2025.11245915"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5032932270","display_name":"Tianzhu Gao","orcid":"https://orcid.org/0000-0002-1522-0837"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianzhu Gao","raw_affiliation_strings":["Dalian Maritime University,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026860187","display_name":"Yudong Luo","orcid":"https://orcid.org/0000-0002-1157-5737"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yudong Luo","raw_affiliation_strings":["Dalian Maritime University,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102016731","display_name":"Na Zhao","orcid":"https://orcid.org/0000-0003-1892-567X"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Na Zhao","raw_affiliation_strings":["Dalian Maritime University,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083129813","display_name":"Jianda Wang","orcid":"https://orcid.org/0000-0002-1411-8726"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Wang","raw_affiliation_strings":["Dalian Maritime University,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuanchu Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanchu Yan","raw_affiliation_strings":["Dalian Maritime University,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061942743","display_name":"Xianping Fu","orcid":"https://orcid.org/0000-0001-9888-9327"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianping Fu","raw_affiliation_strings":["Dalian Maritime University,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100647875","display_name":"Xi Luo","orcid":"https://orcid.org/0000-0002-4793-0315"},"institutions":[{"id":"https://openalex.org/I4210109015","display_name":"Analysis and Testing Centre","ror":"https://ror.org/01m9scr97","country_code":"CN","type":"facility","lineage":["https://openalex.org/I107851509","https://openalex.org/I4210109015","https://openalex.org/I4210127390","https://openalex.org/I4210151987"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi Luo","raw_affiliation_strings":["Yichang Testing Tech. Research Institution,Yichang,China,410083"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yichang Testing Tech. Research Institution,Yichang,China,410083","institution_ids":["https://openalex.org/I4210109015"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102939275","display_name":"Yantao Shen","orcid":"https://orcid.org/0000-0001-5413-2445"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yantao Shen","raw_affiliation_strings":["University of Nevada,Department of Electrical and Biomedical Engineering,Reno,NV,USA,89557"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada,Department of Electrical and Biomedical Engineering,Reno,NV,USA,89557","institution_ids":["https://openalex.org/I134113660"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14798","last_page":"14804"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.5126000046730042,"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":0.5126000046730042,"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":0.2540999948978424,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.025699999183416367,"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/control-theory","display_name":"Control theory (sociology)","score":0.7089999914169312},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5730000138282776},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5454999804496765},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4984999895095825},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.498199999332428},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.48919999599456787},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.47290000319480896},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.46320000290870667}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7089999914169312},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5730000138282776},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5454999804496765},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5169000029563904},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4984999895095825},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.498199999332428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49129998683929443},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.48919999599456787},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.47290000319480896},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.46320000290870667},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45570001006126404},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4124999940395355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40549999475479126},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.3896999955177307},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.3375000059604645},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.33489999175071716},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.3043999969959259},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.30070000886917114},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.28839999437332153},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2849000096321106},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2694999873638153},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2680000066757202},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.2535000145435333},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2239232218","https://openalex.org/W2492811885","https://openalex.org/W2551865091","https://openalex.org/W2563378438","https://openalex.org/W2738137500","https://openalex.org/W2768748954","https://openalex.org/W2805024469","https://openalex.org/W2842089854","https://openalex.org/W2968491849","https://openalex.org/W2996938574","https://openalex.org/W3028073062","https://openalex.org/W3130863473","https://openalex.org/W3181057773","https://openalex.org/W3207305612","https://openalex.org/W4285102182","https://openalex.org/W4294982606","https://openalex.org/W4383108942","https://openalex.org/W4389331546","https://openalex.org/W4401413927","https://openalex.org/W4401415680","https://openalex.org/W4401416169","https://openalex.org/W4403329221"],"related_works":[],"abstract_inverted_index":{"High":[0],"maneuverability":[1],"is":[2,98,115],"essential":[3],"to":[4,30,55,106],"the":[5,16,57,60,94,112,147,152,168,174],"autonomous":[6],"operation":[7],"of":[8,59,66,89,128,163,173],"underwater":[9,61,123],"robots.":[10],"To":[11],"achieve":[12],"real-time":[13,45,171],"maneuvering":[14],"motion,":[15],"control":[17,161],"strategy":[18],"must":[19,39],"take":[20],"into":[21,100],"account":[22],"nonlinear":[23],"hydrodynamic":[24],"effects,":[25],"which":[26,166],"are":[27,132],"extremely":[28],"difficult":[29],"accurately":[31],"capture":[32],"during":[33],"motion":[34],"and":[35,44,83,125,150,170],"therefore":[36],"a":[37,52,86,101,126,160],"balance":[38],"be":[40],"struck":[41],"between":[42],"accuracy":[43,149],"computational":[46],"efficiency.":[47],"Therefore,":[48],"this":[49],"paper":[50],"proposes":[51],"data-driven":[53],"approach":[54,144],"model":[56,97,102,148],"dynamics":[58],"robot":[62],"using":[63],"Sparse":[64],"Identification":[65],"Nonlinear":[67],"Dynamics":[68],"(SINDy).":[69],"Compared":[70],"with":[71],"existing":[72],"works,":[73],"our":[74,118,143],"method":[75,114],"does":[76],"not":[77],"require":[78],"any":[79],"physical":[80],"prior":[81],"knowledge":[82],"only":[84],"uses":[85],"short":[87],"period":[88],"onboard":[90],"sensor":[91],"data.":[92],"Subsequently,":[93],"learned":[95],"dynamic":[96],"incorporated":[99],"predictive":[103],"controller":[104],"(MPC)":[105],"enable":[107],"precise":[108],"attitude":[109,129,153],"control.":[110],"Finally,":[111],"proposed":[113],"implemented":[116],"on":[117],"developed":[119],"fully":[120],"vectored":[121],"propulsion":[122],"robot,":[124],"series":[127],"tracking":[130,154],"experiments":[131],"conducted":[133],"in":[134],"an":[135],"indoor":[136],"water":[137],"tank.":[138],"Experimental":[139],"results":[140],"reveal":[141],"that":[142],"significantly":[145],"improves":[146],"reduces":[151],"errors":[155],"by":[156],"over":[157],"79%":[158],"at":[159],"frequency":[162],"20":[164],"Hz,":[165],"proves":[167],"effectiveness":[169],"performance":[172],"method.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-11-28T00:00:00"}