http://nopr.niscpr.res.in/handle/123456789/48848 <b>Special issue on Underwater Robotics System, Sensors and Instrumentation</b> Fri, 09 Oct 2026 09:54:14 GMT 2026-10-09T09:54:14Z https://http://nopr.niscpr.res.in:443/retrieve/162566/IJMS 48(7) (Cover Page).jpg http://nopr.niscpr.res.in/handle/123456789/48848 http://nopr.niscpr.res.in/handle/123456789/48867 Title: Review of sliding mode control application in autonomous underwater vehicles Authors: Mat-Noh, Maziyah; Mohd-Mokhtar, Rosmiwati; Arshad, M.R.; Zain, Zainah Md; Khan, Qudrat Abstract: This paper presents a review of sliding mode control for autonomous underwater vehicles (AUVs). The AUVs are used under water operating in the presence of uncertainties (due to hydrodynamics coefficients) and external disturbances (due to water currents, waves, etc.). Sliding mode controller is one of the nonlinear robust controllers which is robust towards uncertainties, parameter variations and external disturbances. The evolution of sliding mode control in motion control studies of autonomous underwater vehicles is summarized throughout for the last three decades. The performance of the controller is examined based on the chattering reduction, accuracy (steady state error reduction), and robustness against perturbation. The review on sliding mode control for AUVs provides insights for readers to design new techniques and algorithms, to enhance the existing family of sliding mode control strategies into a new one or to merge and re-supervise the control techniques with other control strategies, in which, the aim is to obtain good controller design for AUVs in terms of great performance, stability and robustness. Page(s): 973-984 Mon, 01 Jul 2019 00:00:00 GMT http://nopr.niscpr.res.in/handle/123456789/48867 2019-07-01T00:00:00Z http://nopr.niscpr.res.in/handle/123456789/48866 Title: Comprehensive review on controller for leader-follower robotic system Authors: Rashid, M. Z. A.; Yakub, F.; Zaki, S. A.; Ali, M.S.M; Mamat, N.M.; Putra, S.M.S Mohd; Roslan, S.A.; Shah, H.N.M.; Aras, M.S.M. Abstract: This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies. Page(s): 985-1007 Mon, 01 Jul 2019 00:00:00 GMT http://nopr.niscpr.res.in/handle/123456789/48866 2019-07-01T00:00:00Z http://nopr.niscpr.res.in/handle/123456789/48865 Title: Experimental and simulation study on nonlinear pitch control of Seagull underwater glider Authors: Li, Daiwei; Cao, Junjun; Liu, Chunhu; Zeng, Zheng; Yao, Baoheng; Lian, Lian Abstract: The Seagull underwater glider, developed by the Shanghai Jiao Tong University, is designed as a test-bed glider for the development and validation of various algorithms to enhance the glider’s long-term autonomy. In this paper, an adaptive backstepping control (ABC) method is proposed for the nonlinear pitch control of the underwater glider gliding in the vertical plane. The linear quadratic regulator (LQR) control and proportional-integral-derivative (PID) control are applied and evaluated with the ABC method to control a glider in saw-tooth motion. Simulation results demonstrate inherent effectiveness and superiority of the LQR or PID based method. According to Lyapunov stability theory, the ABC control scheme is derived to ensure the tracking errors asymptotically converge to zero. The ABC controller has been implemented on Seagull underwater glider, and verified in field experiments in the Qiandao Lake, Zhejiang. Page(s): 1008-1015 Mon, 01 Jul 2019 00:00:00 GMT http://nopr.niscpr.res.in/handle/123456789/48865 2019-07-01T00:00:00Z http://nopr.niscpr.res.in/handle/123456789/48864 Title: Nonlinear robust integral sliding super-twisting sliding mode control application in autonomous underwater glider Authors: Mat-Noh, Maziyah; Arshad, M.R.; Mohd-Mokhtar, Rosmiwati; Khan, Qudrat; Zain, Zainah Md; Kadir, Herdawati Abdul Abstract: The design of a robust controller is a challenging task due to nonlinear behaviour of the glider and surround environment. This paper presents design and simulation of nonlinear robust integral super-twisting sliding mode control for controlling the longitudinal plane of an autonomous underwater glider (AUG). The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations for pitching angle and net buoyancy of the longitudinal plane of an AUG. The algorithm is designed based on integral sliding mode control and super-twisting sliding mode control. The performance of the proposed controller is compared to original integral sliding mode and original super-twisting algorithm. The simulation results have shown that the proposed controller demonstrates satisfactory performance and also reduces the chattering effect and control effort. Page(s): 1016-1027 Mon, 01 Jul 2019 00:00:00 GMT http://nopr.niscpr.res.in/handle/123456789/48864 2019-07-01T00:00:00Z