Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm

  • Maziyah Mat NohEmail author
  • M. R. Arshad
  • Rosmiwati Mohd-Mokhtar
  • Zainah Md Zain
  • Qudrat Khan
  • Herdawati Abdul Kadir
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 538)


This paper proposes the design methodology of the backstepping super twisting sliding mode control algorithm. The proposed controller algorithm is designed to improve the tracking performance of the original super twisting sliding mode. The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations. The controller is designed for the gliding path from 25° downward to 25° upward. The performance of the proposed controller is compared to original super-twisting algorithm. The simulation results have shown that the proposed controller has improved the performance and the undesired chattering in control input and sliding surface has been reduced.


Autonomous underwater glider (AUG) Backstepping Super twisting sliding mode control Chattering reduction 



This research is supported by Universiti Malaysia Pahang (UMP) research grant Vot: RDU1703134, Development of Controller for an Underactuated Autonomous Underwater Vehicle (AUV).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Maziyah Mat Noh
    • 1
    • 2
    Email author
  • M. R. Arshad
    • 2
  • Rosmiwati Mohd-Mokhtar
    • 2
  • Zainah Md Zain
    • 1
  • Qudrat Khan
    • 3
  • Herdawati Abdul Kadir
    • 4
  1. 1.Instrumentation and Control Engineering (ICE) Cluster, Faculty of Electrical and Electronics EngineeringUniversiti Malaysia PahangPekanMalaysia
  2. 2.Underwater, Control Robotics Research Group (UCRG)School of Electrical and Electronic Engineering, Engineering Campus, Universiti Sains MalaysiaNibong TebalMalaysia
  3. 3.Center for Advanced Studies in Telecommunications, CIITIslamabadPakistan
  4. 4.Faculty of Electrical and Electronic EngineeringUniversiti Tun Hussein Onn MalaysiaParit Raja, Batu PahatMalaysia

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