{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T19:03:44Z","timestamp":1777489424455,"version":"3.51.4"},"reference-count":38,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2022,5,17]],"date-time":"2022-05-17T00:00:00Z","timestamp":1652745600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,5,17]],"date-time":"2022-05-17T00:00:00Z","timestamp":1652745600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51679057"],"award-info":[{"award-number":["51679057"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52071108"],"award-info":[{"award-number":["52071108"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2022,6]]},"DOI":"10.1007\/s10846-022-01644-x","type":"journal-article","created":{"date-parts":[[2022,5,17]],"date-time":"2022-05-17T11:03:33Z","timestamp":1652785413000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Bionic Fish Trajectory Tracking Based on a CPG and Model Predictive Control"],"prefix":"10.1007","volume":"105","author":[{"given":"Zheping","family":"Yan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haoyu","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3626-1555","authenticated-orcid":false,"given":"Wei","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qingshuo","family":"Gong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fantai","family":"Lin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,5,17]]},"reference":[{"issue":"16","key":"1644_CR1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar3449","volume":"3","author":"RK Katzschmann","year":"2018","unstructured":"Katzschmann, R.K., Delpreto, J.J., Maccurdy, R., Rus, D.L.: Exploration of underwater life with an acoustically controlled soft robotic fish. Sci. Robot. 3(16), eaar3449 (2018)","journal-title":"Sci. Robot."},{"issue":"9","key":"1644_CR2","doi-asserted-by":"publisher","first-page":"5632","DOI":"10.1109\/TIE.2016.2564338","volume":"63","author":"J Yu","year":"2016","unstructured":"Yu, J., Yuan, J., Wu, Z., Min, T.: Data-driven dynamic modeling for a swimming robotic fish. IEEE Trans. Ind. Electron. 63(9), 5632\u20135640 (2016). https:\/\/doi.org\/10.1109\/TIE.2016.2564338","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"5","key":"1644_CR3","doi-asserted-by":"publisher","first-page":"2904","DOI":"10.1109\/TSMC.2019.2917635","volume":"51","author":"J Wang","year":"2019","unstructured":"Wang, J., Wu, Z., Tan, M., Yu, J.: 3-D path planning with multiple motions for a gliding robotic dolphin. IEEE Trans. Syst., Man, Cybern., Syst. 51(5), 2904\u20132915 (2019)","journal-title":"IEEE Trans. Syst., Man, Cybern., Syst."},{"issue":"6","key":"1644_CR4","doi-asserted-by":"publisher","first-page":"2824","DOI":"10.1109\/TMECH.2020.2994451","volume":"25","author":"HJ Dong","year":"2020","unstructured":"Dong, H.J., Wu, Z.X., Chen, D., Tan, M., Yu, J.Z.: Development of a whale shark-inspired gliding robotic fish with high maneuverability. IEEE-ASME Trans. Mechatron. 25(6), 2824\u20132834 (2020)","journal-title":"IEEE-ASME Trans. Mechatron."},{"issue":"1","key":"1644_CR5","doi-asserted-by":"publisher","first-page":"6","DOI":"10.1007\/s10544-021-00546-3","volume":"23","author":"S Fu","year":"2021","unstructured":"Fu, S., Wei, F., Yin, C., Yao, L., Wang, Y.: Biomimetic soft micro-swimmers: from actuation mechanisms to applications. Biomed. Microdevices. 23(1), 6 (2021)","journal-title":"Biomed. Microdevices"},{"issue":"6","key":"1644_CR6","doi-asserted-by":"publisher","first-page":"967","DOI":"10.1007\/s42235-019-0111-7","volume":"16","author":"P Duraisamy","year":"2019","unstructured":"Duraisamy, P., Sidharthan, R.K., Santhanakrishnan, M.N.: Design, modeling, and control of biomimetic fish robot: a review. J. Bionic Eng. 16(6), 967\u2013993 (2019)","journal-title":"J. Bionic Eng."},{"key":"1644_CR7","doi-asserted-by":"publisher","unstructured":"Xie, F., Zuo, Q., Chen, Q., Fang, H., He, K., Du, R.: Designs of the Biomimetic Robotic Fishes Performing Body and\/or Caudal Fin (BCF) Swimming Locomotion: A Review. J. Intell. Robot. Syst. 102(1), (2021). https:\/\/doi.org\/10.1007\/s10846-021-01379-1","DOI":"10.1007\/s10846-021-01379-1"},{"issue":"6","key":"1644_CR8","doi-asserted-by":"publisher","first-page":"6","DOI":"10.1007\/s10544-021-00546-3","volume":"23","author":"S Fu","year":"2021","unstructured":"Fu, S., Wei, F., Yin, C., Yao, L., Wang, Y.: Biomimetic soft micro-swimmers: from actuation mechanisms to applications. Biomed. Microdevices. 23(6), 6 (2021)","journal-title":"Biomed. Microdevices"},{"issue":"3","key":"1644_CR9","first-page":"276","volume":"9","author":"W Yaowei","year":"2014","unstructured":"Yaowei, W., Zhijian, J., Haichuan, Z.: J. Intell. Syst. 9(3), 276\u2013284 (2014)","journal-title":"J. Intell. Syst."},{"key":"1644_CR10","unstructured":"Chen, Z.: Pneumatic Net Due Fish Body Wave Motion and the Research of Actuator Implementation [D]. Hunan University, (2020)"},{"issue":"9","key":"1644_CR11","doi-asserted-by":"publisher","first-page":"1365","DOI":"10.1007\/s11431-016-9065-x","volume":"60","author":"JZ Yu","year":"2017","unstructured":"Yu, J.Z., Li, W., Ren, Z.Y.: A survey on fabrication, control, and hydrodynamic function of biomimetic robotic fish. Sci China Technol Sci. 60(9), 1365\u20131380 (2017)","journal-title":"Sci China Technol Sci."},{"issue":"2","key":"1644_CR12","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1080\/20464177.2019.1638703","volume":"20","author":"K Deniz","year":"2021","unstructured":"Deniz, K., Ozmen, K.G., Guoyuan, L., Cafer, B., Mustafa, A., Hakan, A.Z.: Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model. J. Mar. Eng. Technol. 20(2), 125\u2013137 (2021)","journal-title":"J. Mar. Eng. Technol."},{"issue":"C","key":"1644_CR13","doi-asserted-by":"publisher","first-page":"106334","DOI":"10.1016\/j.oceaneng.2019.106334","volume":"189","author":"B Cafer","year":"2019","unstructured":"Cafer, B., Gonca, O.K., Deniz, K., Hakan, A.Z., Mustafa, A.: CPG-based autonomous swimming control for multi-tasks of a biomimetic robotic fish [J]. Ocean Eng. 189(C), 106334 (2019). https:\/\/doi.org\/10.1016\/j.oceaneng.2019.106334","journal-title":"Ocean Eng."},{"key":"1644_CR14","doi-asserted-by":"publisher","first-page":"604426","DOI":"10.3389\/fnbot.2020.604426","volume":"14","author":"J Knuesel","year":"2020","unstructured":"Knuesel, J., Crespi, A., Cabelguen, J.-M., Ijspeert, A.J., Ryczko, D.: Reproducing Five Motor Behaviors in a Salamander Robot With Virtual Muscles and a Distributed CPG Controller Regulated by Drive Signals and Proprioceptive Feedback. Front. Neurorobot. 14, 604426 (2020)","journal-title":"Front. Neurorobot."},{"issue":"1","key":"1644_CR15","doi-asserted-by":"publisher","first-page":"171","DOI":"10.1007\/s42235-021-0008-0","volume":"18","author":"JY Chen","year":"2021","unstructured":"Chen, J.Y., Yin, B., Wang, C.C., Xie, F.R., Du, R.X., Zhong, Y.: Bioinspired closed-loop CPG-based control of a robot fish for obstacle avoidance and direction tracking. J. Bionic Eng. 18(1), 171\u2013183 (2021). https:\/\/doi.org\/10.1007\/s42235-021-0008-0","journal-title":"J. Bionic Eng."},{"issue":"6","key":"1644_CR16","doi-asserted-by":"publisher","first-page":"779","DOI":"10.1108\/IR-02-2019-0029","volume":"46","author":"Y Cao","year":"2019","unstructured":"Cao, Y., Lu, Y., Cai, Y.R., Bi, S.S., Pan, G.: CPG-fuzzy-based control of a cownose-ray-like fish robot. Ind. Robot: The International Journal of Robotics Research and Application. 46(6), 779\u2013791 (2019). https:\/\/doi.org\/10.1108\/IR-02-2019-0029","journal-title":"Ind. Robot: The International Journal of Robotics Research and Application"},{"key":"1644_CR17","doi-asserted-by":"publisher","unstructured":"Wang, G., Chen, X., Han, S.-K.: Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms [J]. Int. J. Adv. Robot. Syst. 14(4), (2017). https:\/\/doi.org\/10.1177\/1729881417723440","DOI":"10.1177\/1729881417723440"},{"issue":"3","key":"1644_CR18","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1088\/1748-3190\/aa644c","volume":"12","author":"ZS Bing","year":"2017","unstructured":"Bing, Z.S., Cheng, L., Chen, G., Rohrbein, F., Huang, K., Knoll, A.: Towards autonomous locomotion: CPG-based control of smooth 3D slithering gait transition of a snake-like robot. Bioinspir. Biomim. 12(3), 1\u201316 (2017). https:\/\/doi.org\/10.1088\/1748-3190\/aa644c","journal-title":"Bioinspir. Biomim."},{"issue":"9","key":"1644_CR19","doi-asserted-by":"publisher","first-page":"1962","DOI":"10.1109\/TNNLS.2015.2459913","volume":"27","author":"J Yu","year":"2016","unstructured":"Yu, J., Wu, Z., Wang, M., Tan, M.: CPG network optimization for a biomimetic robotic fish via PSO. IEEE Trans. Neural Netw. Learn. Syst. 27(9), 1962\u20131968 (2016). https:\/\/doi.org\/10.1109\/TNNLS.2015.2459913","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"4","key":"1644_CR20","first-page":"144152","volume":"14","author":"M Wang","year":"2019","unstructured":"Wang, M., Dong, H., Li, X., et al.: Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO [J]. Neurocomputing. 14(4), 144152 (2019)","journal-title":"Neurocomputing"},{"issue":"2","key":"1644_CR21","doi-asserted-by":"publisher","first-page":"613","DOI":"10.1109\/TCYB.2018.2870145","volume":"50","author":"Y Wang","year":"2020","unstructured":"Wang, Y., Xue, X.H., Chen, B.F.: Matsuoka's CPG with desired rhythmic signals for adaptive walking of humanoid robots. IEEE Trans. Cybern. 50(2), 613\u2013626 (2020). https:\/\/doi.org\/10.1109\/TCYB.2018.2870145","journal-title":"IEEE Trans. Cybern."},{"key":"1644_CR22","doi-asserted-by":"publisher","first-page":"106329","DOI":"10.1016\/j.oceaneng.2019.106329","volume":"109","author":"H Yu","year":"2019","unstructured":"Yu, H., Guo, C., Yan, Z.: Globally finite-time stable three-dimensional trajectory tracking control of underactuated UUVs. Ocean Eng. 109, 106329 (2019)","journal-title":"Ocean Eng."},{"key":"1644_CR23","unstructured":"Yanbin, T.: Research on UUV Recovery Control Method of Moving Pedestal Based on Model Predictive Control [D]. Harbin engineering university, (2020)"},{"issue":"1","key":"1644_CR24","doi-asserted-by":"publisher","first-page":"110","DOI":"10.1186\/s10033-018-0307-5","volume":"31","author":"C Yang","year":"2018","unstructured":"Yang, C., Yao, F., Zhang, M.: Adaptive Backstepping Terminal Sliding Mode Control Method Based on Recurrent Neural Networks for Autonomous Underwater Vehicle. Chin. J. Mech. Eng. 31(1), 110 (2018)","journal-title":"Chin. J. Mech. Eng."},{"issue":"6","key":"1644_CR25","first-page":"671","volume":"25","author":"S Bing","year":"2017","unstructured":"Bing, S., Wenyang, G., Man, M., Zhu, D., Yang Simon, X.: Cascaded UUV trajectory tracking control based on model predictive and sliding mode control. J. Mar. Sci. Technol. Taiw. 25(6), 671\u2013679 (2017)","journal-title":"J. Mar. Sci. Technol. Taiw."},{"issue":"7","key":"1644_CR26","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-019-2760-5","volume":"63","author":"M Wang","year":"2020","unstructured":"Wang, M., Yanlu, Z., Dong, H.: Trajectory tracking control of a bionic robotic fish based on iterative learning. Sci. China Inf. Sci. 63(7), 170202 (2020). https:\/\/doi.org\/10.1007\/s11432-019-2760-5","journal-title":"Sci. China Inf. Sci."},{"key":"1644_CR27","doi-asserted-by":"crossref","unstructured":"Zheng, X.W., Chen, H., Jiao, O.Y., Xiong, M.L., Zhang, W., Xie, G.M.: Model Predictive Tracking Control Design for a Robotic Fish with Controllable Barycentre. 45th Annual Conference of the IEEE Industrial Electronics Society (IECON), 5237\u20135242 (2019)","DOI":"10.1109\/IECON.2019.8927738"},{"issue":"4","key":"1644_CR28","doi-asserted-by":"publisher","first-page":"1267","DOI":"10.1109\/LCSYS.2020.3032083","volume":"5","author":"S Bruggemann","year":"2021","unstructured":"Bruggemann, S., Possieri, C.: On the use of difference of log-sum-Exp neural networks to solve data-driven model predictive control tracking problems. IEEE Control Syst. Lett. 5(4), 1267\u20131272 (2021)","journal-title":"IEEE Control Syst. Lett."},{"issue":"4","key":"1644_CR29","doi-asserted-by":"publisher","first-page":"1641","DOI":"10.1109\/TMECH.2018.2848220","volume":"23","author":"W Wang","year":"2018","unstructured":"Wang, W., Dai, X., Li, L., Gheneti, B.H., Ding, Y., Yu, J.Z., Xie, G.M.: Threedimensional modeling of a fin-actuated robotic fish with multimodal swimming. IEEE\/ASME Trans. Mechatron. 23(4), 1641\u20131652 (2018)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"2","key":"1644_CR30","doi-asserted-by":"publisher","first-page":"026008","DOI":"10.1088\/1748-3190\/ab6b6c","volume":"15","author":"RY Tian","year":"2020","unstructured":"Tian, R.Y., Li, L., Wang, W., Chang, X.H., Ravi, S., Xie, G.M.: CFD based parameter tuning for motion control of robotic fish. Bioinspir. Biomim. 15(2), 026008 (2020). https:\/\/doi.org\/10.1088\/1748-3190\/ab6b6c","journal-title":"Bioinspir. Biomim."},{"issue":"6","key":"1644_CR31","first-page":"253","volume":"4","author":"Y Yang","year":"2018","unstructured":"Yang, Y., Wang, J., Wu, Z., Yu, J.: Fault tolerant control method for bionic robotic fish driven by CPG [J]. Engineering. 4(6), 253\u2013269 (2018)","journal-title":"Engineering"},{"issue":"4","key":"1644_CR32","doi-asserted-by":"publisher","first-page":"782","DOI":"10.1002\/cae.21972","volume":"26","author":"N Korkmaz","year":"2018","unstructured":"Korkmaz, N., \u00d6zt\u00fcrk, \u0130., Kili\u00e7, R.: Modeling, simulation, and implementation issues of CPGs for neuromorphic engineering applications[J]. Comput. Appl. Eng. Educ. 26(4), 782\u2013803 (2018)","journal-title":"Comput. Appl. Eng. Educ."},{"issue":"4","key":"1644_CR33","doi-asserted-by":"publisher","first-page":"1323","DOI":"10.1109\/TCST.2019.2910160","volume":"28","author":"JX Zhao","year":"2020","unstructured":"Zhao, J.X., Iwasaki, T.: CPG control for harmonic motion of assistive robot with human motor control identification. IEEE Trans. Control Syst. Technol. 28(4), 1323\u20131336 (2020)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"3","key":"1644_CR34","doi-asserted-by":"publisher","first-page":"2050018","DOI":"10.1142\/S179396232050018X","volume":"11","author":"Q Lu","year":"2020","unstructured":"Lu, Q., Zhang, Z.C., Yue, C.: The programmable CPG model based on Matsuoka oscillator and its application to robot locomotion. Int. J. Model. Simul. Sci. Comput. 11(3), 2050018 (2020). https:\/\/doi.org\/10.1142\/S179396232050018X","journal-title":"Int. J. Model. Simul. Sci. Comput."},{"key":"1644_CR35","doi-asserted-by":"publisher","unstructured":"Wang, B.R., Zhang, K., Yang, X.F., Cui, X.H.: The gait planning of hexapod robot based on CPG with feedback. Int. J. Adv. Robot. Syst. 17(3), (2020). https:\/\/doi.org\/10.1177\/1729881420930503","DOI":"10.1177\/1729881420930503"},{"key":"1644_CR36","unstructured":"Shengbo, L., Wang, J., Keqiang, L.: Soft Constraint Linear Model Predictive Control System Stability Method[J]. J. Qing Univ. Nat. Sci. Ed. (11), 1848\u20131852 (2010)"},{"key":"1644_CR37","doi-asserted-by":"publisher","first-page":"22","DOI":"10.1016\/j.conengprac.2015.08.010","volume":"45","author":"P Suebsaiprom","year":"2015","unstructured":"Suebsaiprom, P., Lin, C.-L.: Maneuverability modeling and trajectory tracking forfish robot. Control. Eng. Pract. 45, 22\u201336 (2015)","journal-title":"Control. Eng. Pract."},{"issue":"6","key":"1644_CR38","doi-asserted-by":"publisher","first-page":"375","DOI":"10.5573\/IEIESPC.2016.5.6.375","volume":"5","author":"KJ Shin","year":"2016","unstructured":"Shin, K.J.: Robot fish tracking control using an optical flow object-detecting algorithm. IEIE Trans. Smart Process. Comput. 5(6), 375\u2013382 (2016)","journal-title":"IEIE Trans. Smart Process. Comput."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01644-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-022-01644-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01644-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,24]],"date-time":"2022-06-24T13:13:00Z","timestamp":1656076380000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-022-01644-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,17]]},"references-count":38,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2022,6]]}},"alternative-id":["1644"],"URL":"https:\/\/doi.org\/10.1007\/s10846-022-01644-x","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,5,17]]},"assertion":[{"value":"13 October 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 April 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 May 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Approvals.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics Approval"}},{"value":"All the authors of this article agreed to participate.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Participate"}},{"value":"All authors of this article agree to publish.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for Publication"}},{"value":"The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of Interest\/Competing Interests"}}],"article-number":"29"}}