{"id":"https://openalex.org/W4313162102","doi":"https://doi.org/10.1109/tie.2022.3225840","title":"Learning for Depth Control of a Robotic Penguin: A Data-Driven Model Predictive Control Approach","display_name":"Learning for Depth Control of a Robotic Penguin: A Data-Driven Model Predictive Control Approach","publication_year":2022,"publication_date":"2022-12-07","ids":{"openalex":"https://openalex.org/W4313162102","doi":"https://doi.org/10.1109/tie.2022.3225840"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3225840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3225840","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5100653867","display_name":"Jie Pan","orcid":"https://orcid.org/0000-0002-2031-7932"},"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":"Jie Pan","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100426110","display_name":"Pengfei Zhang","orcid":"https://orcid.org/0000-0002-7893-3607"},"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"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Zhang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370574","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0003-3742-9671"},"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"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100710464","display_name":"Mingxin Liu","orcid":"https://orcid.org/0000-0002-1383-6558"},"institutions":[{"id":"https://openalex.org/I79223203","display_name":"Guangdong Ocean University","ror":"https://ror.org/0462wa640","country_code":"CN","type":"education","lineage":["https://openalex.org/I79223203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingxin Liu","raw_affiliation_strings":["College of Electronics and Information Engineering, Guangdong Ocean University, Zhanjiang, China"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Guangdong Ocean University, Zhanjiang, China","institution_ids":["https://openalex.org/I79223203"]}]},{"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":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, 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/A5100653867"],"corresponding_institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"],"apc_list":null,"apc_paid":null,"fwci":9.7517,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.97429121,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"70","issue":"11","first_page":"11422","last_page":"11432"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9977999925613403,"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":0.9977999925613403,"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":0.9961000084877014,"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":0.9933000206947327,"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/model-predictive-control","display_name":"Model predictive control","score":0.7489979267120361},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.717380940914154},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5797989368438721},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.573606550693512},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5442020297050476},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5255830883979797},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5117599964141846},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5105903744697571},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5083040595054626},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5011155605316162},{"id":"https://openalex.org/keywords/backpropagation","display_name":"Backpropagation","score":0.5004889965057373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4936462640762329},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4737335443496704},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41855835914611816},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3964920938014984},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30338382720947266},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2016679346561432}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7489979267120361},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.717380940914154},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5797989368438721},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.573606550693512},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5442020297050476},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5255830883979797},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5117599964141846},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5105903744697571},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5083040595054626},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5011155605316162},{"id":"https://openalex.org/C155032097","wikidata":"https://www.wikidata.org/wiki/Q798503","display_name":"Backpropagation","level":3,"score":0.5004889965057373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4936462640762329},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4737335443496704},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41855835914611816},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3964920938014984},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30338382720947266},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2016679346561432},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2022.3225840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3225840","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6200000047683716}],"awards":[{"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/G7603313047","display_name":null,"funder_award_id":"U1909206","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8217207719","display_name":null,"funder_award_id":"62073196","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2065334829","https://openalex.org/W2135493101","https://openalex.org/W2260195807","https://openalex.org/W2590116986","https://openalex.org/W2751355297","https://openalex.org/W2755569859","https://openalex.org/W2766560259","https://openalex.org/W2792969186","https://openalex.org/W2930426397","https://openalex.org/W2954115742","https://openalex.org/W2963729305","https://openalex.org/W2968788589","https://openalex.org/W2973229164","https://openalex.org/W2974874801","https://openalex.org/W2979897999","https://openalex.org/W2990781753","https://openalex.org/W2996477139","https://openalex.org/W3016931720","https://openalex.org/W3023256605","https://openalex.org/W3107524692","https://openalex.org/W3187378924","https://openalex.org/W4225603049","https://openalex.org/W4285160851","https://openalex.org/W4285446252","https://openalex.org/W4292999322","https://openalex.org/W6995494772"],"related_works":["https://openalex.org/W4239286941","https://openalex.org/W2088845016","https://openalex.org/W589102260","https://openalex.org/W1966421350","https://openalex.org/W1868434454","https://openalex.org/W4366985237","https://openalex.org/W2810569973","https://openalex.org/W1990079087","https://openalex.org/W2128396103","https://openalex.org/W4366984740"],"abstract_inverted_index":{"For":[0],"bionic":[1,173],"underwater":[2,44,174],"robots,":[3],"it":[4],"is":[5,70,87,122,142,152],"a":[6,24,50,54,60,66,83,90,98,115],"great":[7],"challenge":[8],"for":[9,35],"depth":[10,38],"control":[11,28,171],"due":[12],"to":[13,103,124],"model":[14,26],"uncertainty":[15],"and":[16,59,75,97,113,135,145,158],"strong":[17],"nonlinearity.":[18],"To":[19],"this":[20,161],"end,":[21],"we":[22],"propose":[23],"data-driven":[25,67,116],"predictive":[27],"(MPC)":[29],"approach":[30],"using":[31,89,118],"reinforcement":[32],"learning":[33,85],"(RL)":[34],"robotic":[36,51,80],"penguin":[37],"control.":[39],"First,":[40],"by":[41,155],"imitating":[42],"the":[43,47,73,79,105,108,119,126,138,146,149,168],"mode":[45],"of":[46,78,107,148,172],"biological":[48],"penguin,":[49],"prototype":[52],"with":[53,130],"tendon-driven":[55,61],"head,":[56],"two-degrees-of-freedom":[57],"wings,":[58],"tail":[62],"was":[63],"designed.":[64],"Then,":[65],"MPC":[68,117],"framework":[69,151],"proposed":[71,150],"considering":[72],"structure":[74],"motion":[76,91,170],"properties":[77],"penguin.":[81],"Especially,":[82],"data-based":[84],"environment":[86],"constructed":[88],"capture":[92],"system,":[93],"computational":[94],"fluid":[95],"dynamics,":[96],"backpropagation":[99],"neural":[100],"network.":[101],"Meanwhile,":[102],"maximize":[104],"benefits":[106],"controller":[109,140],"while":[110],"ensuring":[111],"safety":[112],"stability,":[114],"RL":[120],"scheme":[121],"applied":[123],"approximate":[125],"optimal":[127],"policy.":[128],"Combined":[129],"an":[131],"appropriate":[132],"reward":[133],"design":[134],"periodic":[136],"training,":[137],"closed-loop":[139],"performance":[141],"significantly":[143],"improved,":[144],"validity":[147],"finally":[153],"tested":[154],"extensive":[156],"simulations":[157],"experiments.":[159],"Notably,":[160],"work":[162],"will":[163],"provide":[164],"valuable":[165],"insights":[166],"into":[167],"learning-based":[169],"robots.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}