{"id":"https://openalex.org/W7151020955","doi":"https://doi.org/10.1109/lra.2026.3681186","title":"GVF-MPC Depth Control Framework Motivated by Restoring-Moment Mechanism Analysis for Bionic Robotic Fish","display_name":"GVF-MPC Depth Control Framework Motivated by Restoring-Moment Mechanism Analysis for Bionic Robotic Fish","publication_year":2026,"publication_date":"2026-04-06","ids":{"openalex":"https://openalex.org/W7151020955","doi":"https://doi.org/10.1109/lra.2026.3681186"},"language":"\u82f1\u8bed","primary_location":{"id":"doi:10.1109/lra.2026.3681186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3681186","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","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/A5101415819","display_name":"Jiarong Han","orcid":"https://orcid.org/0009-0002-4056-9579"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiarong Han","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-4056-9579","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiangqing Yuan","orcid":"https://orcid.org/0009-0001-1966-374X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangqing Yuan","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-1966-374X","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133048164","display_name":"Bo Yin","orcid":null},"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/I4210157653","display_name":"Institute of Mechanics","ror":"https://ror.org/057jnjd73","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210157653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Yin","raw_affiliation_strings":["Key Laboratory for Mechanics in Fluid Solid Coupling Systems, Institute of Mechanics, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8267-8939","affiliations":[{"raw_affiliation_string":"Key Laboratory for Mechanics in Fluid Solid Coupling Systems, Institute of Mechanics, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210157653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133019573","display_name":"Yu Liu","orcid":null},"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/I4210099069","display_name":"Institute of Acoustics","ror":"https://ror.org/00v8rqv75","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210099069"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Liu","raw_affiliation_strings":["Institute of Acoustics, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8993-8294","affiliations":[{"raw_affiliation_string":"Institute of Acoustics, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210099069"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073256902","display_name":"Suli Zou","orcid":"https://orcid.org/0000-0003-1508-8458"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Suli Zou","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1508-8458","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133054303","display_name":"Zhihong Deng","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihong Deng","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0226-0626","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035188278","display_name":"Zhongjing Ma","orcid":"https://orcid.org/0000-0002-1617-7201"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongjing Ma","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1617-7201","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.66194566,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"6504","last_page":"6511"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9286999702453613,"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":0.9286999702453613,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.010599999688565731,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.008299999870359898,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4602000117301941},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4348999857902527},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.34200000762939453},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3375999927520752},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.313400000333786}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5146999955177307},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4602000117301941},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4348999857902527},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4343000054359436},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3560999929904938},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35370001196861267},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.34200000762939453},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3237000107765198},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2615000009536743},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25679999589920044}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2026.3681186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3681186","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:/dspace.imech.ac.cn:311007/106511","is_oa":false,"landing_page_url":"http://dspace.imech.ac.cn/handle/311007/106511","pdf_url":null,"source":{"id":"https://openalex.org/S4306400463","display_name":"\u4e2d\u56fd\u79d1\u5b66\u9662\u529b\u5b66\u7814\u7a76\u6240","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"\u671f\u520a\u8bba\u6587"},{"id":"pmh:oai:/dspace.imech.ac.cn:311007/106513","is_oa":false,"landing_page_url":"http://dspace.imech.ac.cn/handle/311007/106512","pdf_url":null,"source":{"id":"https://openalex.org/S4306400463","display_name":"\u4e2d\u56fd\u79d1\u5b66\u9662\u529b\u5b66\u7814\u7a76\u6240","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"\u671f\u520a\u8bba\u6587"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5485601425170898,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2451935065","display_name":null,"funder_award_id":"12272383","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G339474610","display_name":null,"funder_award_id":"62373051","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5535283421","display_name":null,"funder_award_id":"U22A2048","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":17,"referenced_works":["https://openalex.org/W130364663","https://openalex.org/W1972641348","https://openalex.org/W2201723610","https://openalex.org/W2751355297","https://openalex.org/W3036535696","https://openalex.org/W3043301796","https://openalex.org/W3109702511","https://openalex.org/W4313162102","https://openalex.org/W4367663218","https://openalex.org/W4387587555","https://openalex.org/W4390204441","https://openalex.org/W4393184586","https://openalex.org/W4400579950","https://openalex.org/W4408647749","https://openalex.org/W4412718751","https://openalex.org/W4413010778","https://openalex.org/W4413465200"],"related_works":[],"abstract_inverted_index":{"Longitudinal":[0],"oscillations":[1,65],"are":[2,153,185],"commonly":[3],"observed":[4],"in":[5,187],"depth":[6,38,77,170],"control":[7,78,123],"of":[8,27,63,161],"low-speed":[9,64,148],"underwater":[10],"platforms":[11],"such":[12],"as":[13,42],"bio-inspired":[14],"robotic":[15],"fish.":[16],"To":[17],"investigate":[18],"this":[19,21],"issue,":[20],"paper":[22],"conducts":[23],"a":[24,74,94],"quantitative":[25],"analysis":[26],"the":[28,33,37,43,49,61,71,127,157,162,174],"vertical-plane":[29],"dynamics.":[30],"It":[31],"reveals":[32],"speed-dependent":[34],"coupling":[35],"between":[36],"and":[39,47,114,139,145,151,159,168,172,180,190,203],"pitch":[40,115],"channels":[41],"swimming":[44],"speed":[45,58,138],"decreases,":[46],"clarifies":[48],"underdamped":[50],"mechanism":[51],"induced":[52],"by":[53],"restoring-moment":[54],"dominance.":[55],"A":[56],"critical":[57],"condition":[59],"for":[60,133],"onset":[62],"is":[66,80],"also":[67],"derived.":[68],"Based":[69],"on":[70],"dynamic":[72,88,134],"analysis,":[73],"hierarchical":[75],"GVF\u2013MPC":[76],"framework":[79],"proposed,":[81],"which":[82],"structurally":[83],"decouples":[84],"geometric":[85,106],"guidance":[86,91,128],"from":[87,105],"execution.":[89],"The":[90,117],"layer":[92],"employs":[93],"guiding":[95],"vector":[96],"field":[97],"(GVF)":[98],"to":[99,111,125,142,155,196],"generate":[100],"naturally":[101],"smooth":[102],"attitude":[103],"references":[104],"information,":[107],"with":[108,177],"reduced":[109],"sensitivity":[110],"model":[112,121],"degradation":[113],"disturbances.":[116],"inner":[118],"loop":[119],"applies":[120],"predictive":[122],"(MPC)":[124],"track":[126],"commands":[129],"while":[130],"explicitly":[131],"accounting":[132],"constraints,":[135],"balancing":[136],"convergence":[137],"control-input":[140],"smoothness":[141],"improve":[143],"stability":[144],"safety":[146],"under":[147,191],"conditions.":[149],"Simulation":[150],"experiments":[152],"conducted":[154],"evaluate":[156],"effectiveness":[158],"robustness":[160],"proposed":[163,175],"method.":[164],"Simulations":[165],"consider":[166],"sinusoidal":[167],"V-shaped":[169],"path":[171],"compare":[173],"approach":[176],"LOS,":[178],"PID,":[179],"SMC":[181],"based":[182],"controllers.":[183],"Experiments":[184],"performed":[186],"still":[188],"water":[189],"simulated":[192],"Sea-State":[193],"1":[194],"disturbances":[195],"assess":[197],"steady":[198],"state":[199],"accuracy,":[200],"disturbance":[201],"recovery,":[202],"overall":[204],"robustness.":[205]},"counts_by_year":[],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2026-04-07T00:00:00"}
