Design and Development PIC-Based Autonomous Robot. - Moh Kee Gow; Zainah Md. Zain; Rahmatul Hidayah Salimin (RAM, 2008)

A nonholonomic control method for stabilizing an X4-AUV. - Zainah Md. Zain; Keigo Watanabe; Kiyotaka Izumi; Isaku Nagai (Artif. Life Robotics, 2011)

Exponential Stabilization of Second-Order Nonholonomic Chained Systems. - Zainah Md. Zain; Keigo Watanabe; Kiyotaka Izumi; Isaku Nagai (ICIRA (2), 2013)

A discontinuous exponential stabilization law for an underactuated X4-AUV. - Zainah Md. Zain; Keigo Watanabe; Kiyotaka Izumi; Isaku Nagai (Artif. Life Robotics, 2013)

Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach. - Zainah Md. Zain; NurFadzillah Harun; Keigo Watanabe; Isaku Nagai (ASCC, 2015)