Predictor-based line-of-sight guidance law for path following of underactuated marine surface vessels

Abstract

This paper presents a novel guidance law for path following of underactuated marine surface vessels. The proposed guidance law is based on a predictor-based line-of-sight approach, where vehicle sideslip caused by ocean disturbances is fast compensated by an adaptive term. This approach preserves the simplicity and interpretation of conventional line-of-sight guidance, while ensuring sufficient countermeasures against draft force due to vehicle sideslip. The tracking error system and the prediction error system form a cascade system, which is shown to be uniform global asymptotic stable. Simulation results demonstrate the effectiveness of the proposed method.