{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T06:05:57Z","timestamp":1784354757714,"version":"3.55.0"},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2019,3,20]],"date-time":"2019-03-20T00:00:00Z","timestamp":1553040000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2019,10]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>Designing the boundary layer thickness and switching gain in the nonlinear part of sliding mode controller (SMC) is one of the main subjects in SMC design that needs human experience, knowledge on the amplitude of disturbances, and information about the bounds of system uncertainties. In this paper, to reduce the trial-and-error effort by the designer(s) two different fitness functions in the horizontal and vertical planes are presented and a heuristic method is used for their optimization. The optimal switching gain in the proposed approach properly compensates the unmodeled dynamics, model uncertainty, and external disturbances. Chattering phenomenon in control signals and noise measurement effect are reduced by the optimal selection of boundary layer thickness. This proposed method is applied to an autonomous underwater vehicle (AUV) and evaluated through the real-time and cost-effective manner. The execution code is implemented on a single-board computer (SBC) through the xPC Target and is evaluated by the processor-in-the-loop (PIL) test. The results of the PIL test in the two different test cases indicate that the chattering phenomenon and amplitude of control signal applied to the actuators are reduced in comparison with the three conventional approaches in the AUV motion control.<\/jats:p>","DOI":"10.1017\/s0263574719000262","type":"journal-article","created":{"date-parts":[[2019,3,20]],"date-time":"2019-03-20T08:34:24Z","timestamp":1553070864000},"page":"1785-1803","source":"Crossref","is-referenced-by-count":15,"title":["Design Boundary Layer Thickness and Switching Gain in SMC Algorithm for AUV Motion Control"],"prefix":"10.1017","volume":"37","author":[{"given":"Ehsan","family":"Taheri","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohamad Hossein","family":"Ferdowsi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohammad","family":"Danesh","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2019,3,20]]},"reference":[{"key":"S0263574719000262_ref25","doi-asserted-by":"crossref","first-page":"2541","DOI":"10.3233\/IFS-151799","article-title":"Real-time hybrid design of tracking control and obstacles avoidance for underactuated underwater vehicles","volume":"30","author":"Bing","year":"2016","journal-title":"J. Intell. Fuzzy Syst."},{"key":"S0263574719000262_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-014-0252-8"},{"key":"S0263574719000262_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.1985.1145131"},{"key":"S0263574719000262_ref31","unstructured":"31. C. Yu , X. Xiang , P. Wilson and Q. Zhang . \u201cGuidance-error-based robust fuzzy adaptive control for bottom following of a flight-style AUV with delayed and saturated control surfaces,\u201d IEEE Trans. Cybern. 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Control Syst. Technol."},{"key":"S0263574719000262_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2016.2645699"},{"key":"S0263574719000262_ref24","doi-asserted-by":"crossref","first-page":"929","DOI":"10.1016\/j.asoc.2017.10.025","article-title":"Online path planning for AUV rendezvous in dynamic cluttered undersea environment using evolutionary algorithms","volume":"70","author":"Zadeh","year":"2018","journal-title":"Appl. Soft Comput."},{"key":"S0263574719000262_ref27","doi-asserted-by":"crossref","unstructured":"27. E. Taheri , Kinodynamic Path Planning for Autonomous Underwater Vehicle Ph.D Thesis (Electrical Engineering Malek-Ashtar University of Technology, 2018).","DOI":"10.1016\/j.apor.2018.12.008"},{"key":"S0263574719000262_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CCA.2005.1507101"},{"key":"S0263574719000262_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2015.7171048"},{"key":"S0263574719000262_ref26","volume-title":"Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles","author":"Fossen","year":"2002"},{"key":"S0263574719000262_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2531792"},{"key":"S0263574719000262_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2016.7761167"},{"key":"S0263574719000262_ref1","doi-asserted-by":"crossref","first-page":"3275","DOI":"10.1109\/TIE.2009.2027531","article-title":"Sliding-mode control with soft computing: A survey","volume":"56","author":"Yu","year":"2009","journal-title":"IEEE Trans. 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