# Improved Model Predictive-Based Underwater Trajectory Tracking Control for the Biomimetic Spherical Robot under Constraints

> Research article (Applied Sciences, 2020) · cited 32× · AI/ML

**Wikidata**: [openalex:W3098702522](https://www.wikidata.org/wiki/openalex:W3098702522)  
**Source**: https://4ort.xyz/entity/improved-model-predictive-based-underwater-trajectory-tracking-control-for-the-biomimetic-spherical-robot-under-constrai