The “System description” section provides information on the motion mode of the robot and the motion characteristics of the undulating fins. Additionally, two coordinate systems are established to describe the dynamics model. However, the origin of the robot coordinate system is not clearly defined. To ensure rigor, it is recommended that a clearer explanation be provided in either the figure or manuscript.
The authors adopt a data-driven approach for disturbance observation, which is novel and worth studying. While there are many data-driven approaches available, it is unclear why the authors favor a GP-based approach over others. Providing more explanations would be beneficial, as readers may find this interesting.
The experiment section includes sufficient experiments to verify the proposed framework’s effectiveness. However, practical application requires consideration of calculation requirements and real-time performance of MPC; unfortunately, this part of the article lacks detailed explanation. Therefore, adding more descriptions of real-time results would be helpful in further explaining Fig. 10’s analysis and interpretation to readers.
![5-01-15T13:58:44+08:00 [FATA][LIB][MonDB] server selection error: server selection timeout, current topology: { Type: Unknown, Servers: [{ Addr: 127.0.0.1:27017, Type: Unknown, Last error: connection() error occured during connection handshake: di...](https://linuxcpp.0voice.com/zb_users/upload/2023/05/202305162215397523846.png)
