{"id":"https://openalex.org/W4412718751","doi":"https://doi.org/10.1109/tase.2025.3592696","title":"Vertical-Plane Locomotion Control of a High-Speed Robotic Tuna via NMPC","display_name":"Vertical-Plane Locomotion Control of a High-Speed Robotic Tuna via NMPC","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4412718751","doi":"https://doi.org/10.1109/tase.2025.3592696"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3592696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3592696","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5063602029","display_name":"Ru Tong","orcid":"https://orcid.org/0009-0009-1849-6108"},"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":true,"raw_author_name":"Ru Tong","raw_affiliation_strings":["Department of Advanced Manufacturing and Robotics, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Manufacturing and Robotics, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111119282","display_name":"Sijie Li","orcid":"https://orcid.org/0009-0001-9523-5210"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sijie Li","raw_affiliation_strings":["Laboratory of Cognitive and Decision Intelligence for Complex System, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, Laboratory of Cognitive and Decision Intelligence for Complex System, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Laboratory of Cognitive and Decision Intelligence for Complex System, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, Laboratory of Cognitive and Decision Intelligence for Complex System, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100368439","display_name":"Di Chen","orcid":"https://orcid.org/0000-0001-7963-1769"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]},{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Di Chen","raw_affiliation_strings":["School of Intelligence Science and Technology, the Institute of Artificial Intelligence, and the Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems, Ministry of Education, University of Science and Technology Beijing, Beijing, China","School of Intelligence Science and Technology and the Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, the Institute of Artificial Intelligence, and the Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems, Ministry of Education, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I890469752"]},{"raw_affiliation_string":"School of Intelligence Science and Technology and the Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001123312","display_name":"Zhengxing Wu","orcid":"https://orcid.org/0000-0003-2338-5217"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxing Wu","raw_affiliation_strings":["Laboratory of Cognitive and Decision Intelligence for Complex System, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, Laboratory of Cognitive and Decision Intelligence for Complex System, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Laboratory of Cognitive and Decision Intelligence for Complex System, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, Laboratory of Cognitive and Decision Intelligence for Complex System, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"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":"Junzhi Yu","raw_affiliation_strings":["Department of Advanced Manufacturing and Robotics, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Manufacturing and Robotics, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5063602029"],"corresponding_institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"],"apc_list":null,"apc_paid":null,"fwci":0.6285,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.69657818,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"19151","last_page":"19162"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.5790191888809204},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4613279402256012},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4525940418243408},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.4168342053890228},{"id":"https://openalex.org/keywords/tuna","display_name":"Tuna","score":0.4165083169937134},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38980644941329956},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37928926944732666},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36447417736053467},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.35996246337890625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2032986879348755},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.12070485949516296},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.11925366520881653},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.09668079018592834}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5790191888809204},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4613279402256012},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4525940418243408},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.4168342053890228},{"id":"https://openalex.org/C2780532849","wikidata":"https://www.wikidata.org/wiki/Q6146274","display_name":"Tuna","level":3,"score":0.4165083169937134},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38980644941329956},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37928926944732666},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36447417736053467},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.35996246337890625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2032986879348755},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.12070485949516296},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.11925366520881653},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.09668079018592834}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3592696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3592696","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G194626819","display_name":null,"funder_award_id":"62473236","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6967768830","display_name":null,"funder_award_id":"F2024203130","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G7462342677","display_name":null,"funder_award_id":"20240484499","funder_id":"https://openalex.org/F4320334978","funder_display_name":"Beijing Nova Program"},{"id":"https://openalex.org/G7596075617","display_name":null,"funder_award_id":"62233001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8670534201","display_name":null,"funder_award_id":"T2121002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334978","display_name":"Beijing Nova Program","ror":"https://ror.org/034k14f91"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1973642810","https://openalex.org/W1975956936","https://openalex.org/W2016988789","https://openalex.org/W2048415124","https://openalex.org/W2059641899","https://openalex.org/W2090614781","https://openalex.org/W2107186415","https://openalex.org/W2108623852","https://openalex.org/W2123087468","https://openalex.org/W2201723610","https://openalex.org/W2207617193","https://openalex.org/W2354396277","https://openalex.org/W2432869120","https://openalex.org/W2460072623","https://openalex.org/W2751355297","https://openalex.org/W2783981521","https://openalex.org/W2889738019","https://openalex.org/W2901588548","https://openalex.org/W2973788922","https://openalex.org/W3016335463","https://openalex.org/W3085141854","https://openalex.org/W3093867627","https://openalex.org/W3133183884","https://openalex.org/W4214805596","https://openalex.org/W4281716076","https://openalex.org/W4283078235","https://openalex.org/W4285163488","https://openalex.org/W4371805937","https://openalex.org/W4378804833","https://openalex.org/W4392169762","https://openalex.org/W4393184586","https://openalex.org/W4399571981","https://openalex.org/W6717995793","https://openalex.org/W6732641022"],"related_works":["https://openalex.org/W2909526089","https://openalex.org/W2357062348","https://openalex.org/W2894310731","https://openalex.org/W3049537804","https://openalex.org/W3017485137","https://openalex.org/W2385050397","https://openalex.org/W3128947948","https://openalex.org/W1560419381","https://openalex.org/W2949240136","https://openalex.org/W2948818891"],"abstract_inverted_index":{"The":[0],"development":[1],"of":[2,20,52,99,167,183,210,224,234,270,293,350,412,435],"bionic":[3,59,251,436],"underwater":[4,21,252,437],"robots":[5,22,253,438],"has":[6],"brought":[7],"new":[8],"vitality":[9],"to":[10,24,48,133,207,214,306,380,400],"ocean":[11],"exploration.":[12],"Motion":[13],"control":[14,46,51,106,154,193,223,292,304,407,429],"is":[15,102,130,213,334,364,378,398],"crucial":[16],"for":[17,58,81,195,244,257,290,311,327,339,360,426],"the":[18,79,97,105,108,114,135,140,148,165,179,201,216,228,232,266,281,320,331,348,410,413,440],"stability":[19,83,342],"due":[23],"significant":[25],"differences":[26],"in":[27,90,200,227,250,330,439],"flow":[28,235,259,355],"field":[29,236],"characteristics":[30,237],"at":[31,186,238],"various":[32],"swimming":[33,100,188,240],"speeds.":[34,241],"This":[35,172,297],"study":[36,173],"focuses":[37],"on":[38,64,178,367],"vertical-plane":[39,70,142,309],"motion":[40,71,82,110,116,169,180,221,329,341,349,363,375,385,428],"and":[41,55,76,84,159,190,222,248,268,286,303,343,392,406,424,430],"proposes":[42,299],"a":[43,65,93,175,191,300,316,323,337,357,393],"model":[44,95,126,359,395],"predictive":[45,127,396],"method":[47,150,326],"achieve":[49,307],"integrated":[50],"depth":[53,249,287],"position":[54],"pitch":[56,246,284],"attitude":[57,247,285],"robotic":[60,66,184,225,272,312,317,351],"fish.":[61,313],"First,":[62],"based":[63,366],"tuna":[67,318],"system,":[68],"high-maneuverability":[69,328,427],"configuration":[72,301,324],"elements":[73],"are":[74,254],"analyzed":[75],"summarized,":[77],"laying":[78],"foundation":[80,338],"controllability.":[85,344],"Second,":[86],"through":[87],"hydrodynamic":[88,368],"sampling":[89],"aquatic":[91,372],"environments,":[92],"system":[94,358],"covering":[96],"range":[98],"speeds":[101],"established.":[103],"Regarding":[104],"method,":[107],"proposed":[109,149,379,414,418],"planning":[111,376],"approach":[112,377],"converts":[113],"desired":[115,141,308,382],"sequence":[117,170],"into":[118,387],"an":[119],"equivalent":[120],"\u201cpitch-depth\u201d":[121,389],"trajectory":[122,136,390],"curve.":[123],"A":[124,374],"nonlinear":[125,394],"controller":[128,397],"(NMPC)":[129],"then":[131],"designed":[132,256,399],"track":[134,401],"curve,":[137],"ultimately":[138],"achieving":[139],"motion.":[143],"Experimental":[144],"results":[145],"validate":[146,409],"that":[147],"not":[151,276],"only":[152],"ensures":[153],"accuracy":[155],"under":[156,353],"both":[157],"low":[158],"high-speed":[160,271],"conditions,":[161],"but":[162],"also":[163],"enables":[164],"execution":[166],"complex":[168],"control.":[171],"provides":[174],"fresh":[176],"perspective":[177],"instability":[181,267],"analysis":[182,302,325],"fish":[185,226,273,352],"high":[187],"speed":[189],"novel":[192],"framework":[194],"regulating":[196],"continuous":[197,431],"posture":[198,432],"sequences":[199,386,433],"vertical":[202,229,332,361,383,441],"plane.":[203,442],"<italic":[204],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[205],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[206],"Practitioners</i>\u2014The":[208],"motivation":[209],"this":[211],"paper":[212,298],"address":[215],"challenges":[217,289],"associated":[218],"with":[219],"stable":[220,258],"plane,":[230],"given":[231],"variability":[233],"different":[239],"Existing":[242],"methods":[243,419],"controlling":[245],"typically":[255],"conditions":[260],"encountered":[261],"during":[262],"low-speed":[263],"swimming.":[264],"However,":[265],"agility":[269],"movements":[274],"have":[275],"been":[277],"adequately":[278],"considered.":[279],"Additionally,":[280],"coupling":[282],"between":[283],"poses":[288],"joint":[291],"their":[294],"combined":[295],"states.":[296],"methodology":[305],"locomotion":[310],"Specifically,":[314],"using":[315],"as":[319],"research":[321],"subject,":[322],"plane":[333,362,384],"presented,":[335],"providing":[336],"ensuring":[340],"To":[345],"accurately":[346],"evaluate":[347],"varying":[354],"speeds,":[356],"constructed":[365],"data":[369],"collected":[370],"from":[371],"environments.":[373],"convert":[381],"controllable":[388],"curves,":[391],"these":[402],"trajectories.":[403],"Configuration":[404],"simulations":[405],"experiments":[408],"effectiveness":[411],"method.":[415],"Hopefully,":[416],"our":[417],"can":[420],"provide":[421],"valuable":[422],"insights":[423],"support":[425],"tracking":[434]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}
