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With an increase of service users’ demands on high quality of services (QoS), more and more efficient service computing models are proposed. The development of cloud computing, fog computing, and edge computing brings a number of challenges, e.g., QoS optimization and energy saving. We do a comprehensive survey on QoS optimization and energy saving in cloud computing, fog computing, edge computing, and IoT environments. We summarize the main challenges and analyze corresponding solutions proposed by existing works. This survey aims to help readers have a deeper understanding on the concepts of different computing models and study the techniques of QoS optimization and energy saving in these models.