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Zainah, Md. Zain and Watanabe, Keigo and Izumi, Kiyotaka and Nagai, Isaku (2013) A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV. Artificial Life and Robotics, 17 (3). pp. 463-469. ISSN 1433-5298 (Print) 1614-7456 (Online). (Published)