{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,8]],"date-time":"2026-09-08T16:08:41Z","timestamp":1788883721606,"version":"build-2803163510"},"reference-count":36,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2026,5,18]],"date-time":"2026-05-18T00:00:00Z","timestamp":1779062400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,5,18]],"date-time":"2026-05-18T00:00:00Z","timestamp":1779062400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2026,10]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>To address autonomous underwater vehicle (AUV) path tracking under time\u2010varying disturbance, this paper proposes an Extended State Observer (ESO)\u2010based Line\u2010of\u2010Sight (LOS) guidance strategy that accounts for time\u2010varying ocean currents, model uncertainties, and drift angles. The disturbances are treated as a lumped term without assumptions on their magnitude or variation. A kinematic error model incorporating these effects is established, and an ESO is designed for real\u2010time disturbance estimation and compensation. An adaptive look\u2010ahead distance is introduced to enhance responsiveness to the AUV's tracking state. A virtual control input is then integrated into the traditional LOS framework to formulate an improved guidance law, forming a closed\u2010loop cascaded system of tracking and estimation errors. Using input\u2010to\u2010state stability (ISS) theory and the cascaded systems theorem, the overall system is proven to be ISS, and the ultimate bound of the cross\u2010track error is derived under bounded disturbances. The proposed method was compared with several existing approaches in simulations, demonstrating its superiority. Finally, three field experiments were conducted to track straight\u2010line, polyline, and circular paths, respectively, achieving a mean cross\u2010track error of no more than 0.48\u2009m across three tested path types and an average estimation error of ESO no greater than 0.0163\u2009m.<\/jats:p>","DOI":"10.1002\/rob.70243","type":"journal-article","created":{"date-parts":[[2026,5,18]],"date-time":"2026-05-18T08:58:05Z","timestamp":1779094685000},"page":"4308-4322","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Improved ESO\u2010LOS Guidance Strategy for AUV: Theory and Experiment Validation"],"prefix":"10.1002","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-1272-5404","authenticated-orcid":false,"given":"Zijian","family":"Zhu","sequence":"first","affiliation":[{"name":"National Key Laboratory of Intelligent Marine Vehicle Technology, Harbin Engineering University Harbin Heilongjiang China"},{"name":"College of Shipbuilding Engineering Harbin Engineering University Harbin Heilongjiang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peizhou","family":"Du","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Intelligent Marine Vehicle Technology, Harbin Engineering University Harbin Heilongjiang China"},{"name":"College of Shipbuilding Engineering Harbin Engineering University Harbin Heilongjiang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guocheng","family":"Zhang","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Intelligent Marine Vehicle Technology, Harbin Engineering University Harbin Heilongjiang China"},{"name":"College of Shipbuilding Engineering Harbin Engineering University Harbin Heilongjiang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ye","family":"Li","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Intelligent Marine Vehicle Technology, Harbin Engineering University Harbin Heilongjiang China"},{"name":"College of Shipbuilding Engineering Harbin Engineering University Harbin Heilongjiang China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,5,18]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2008.4739352"},{"key":"e_1_2_9_3_1","first-page":"627","volume-title":"Paper presented at the Proceedings of the 44th IEEE Conference on Decision and Control","author":"Breivik M.","year":"2005"},{"key":"e_1_2_9_4_1","unstructured":"Caharija W.(2014). Integral Line\u2010of\u2010sight Guidance and Control of Underactuated Marine Vehicles."},{"key":"e_1_2_9_5_1","doi-asserted-by":"crossref","unstructured":"Chai P. Y.Sun W.Wu H.Zhou andF. J. O. E.Gao2025. \u201cAUV Preset Performance Approximate Dynamic Programming Path following Control Based on Fixed Time Guidance Law.\u201d Ocean Engineering 321: 120425.https:\/\/doi.org\/10.1016\/j.oceaneng.2025.120425.","DOI":"10.1016\/j.oceaneng.2025.120425"},{"key":"e_1_2_9_6_1","doi-asserted-by":"crossref","unstructured":"Cheng H. C.Li B.Zheng H.Huang andX. J. A.Liu.2026. TABLF\u2010Based Finite\u2010time Cooperative Guidance Law for a Maneuvering Target With A Field\u2010of\u2010View Constraint. 1\u201319.","DOI":"10.1007\/s42064-025-0265-5"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9781139172455"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/9781119994138"},{"issue":"2","key":"e_1_2_9_9_1","article-title":"Line\u2010of\u2010Sight Path following for Dubins Paths With Adaptive Sideslip Compensation of Drift Forces","volume":"23","author":"Fossen T. I.","year":"2014","journal-title":"Transactions on Control Systems Technology"},{"issue":"6","key":"e_1_2_9_10_1","article-title":"An Adaptive Line\u2010of\u2010Sight (ALOS) Guidance Law for Path Following of Aircraft and Marine Craft","volume":"31","author":"Fossen T. I.","year":"2023","journal-title":"Transactions on Control Systems Technology"},{"key":"e_1_2_9_11_1","doi-asserted-by":"crossref","unstructured":"Fu J. G.Sun W.Yao C.Wu andL.Wu.2026. Dubins Path Planning of Heterogeneous UAV Collaborative Data Collection for IoT Network.","DOI":"10.1109\/TITS.2025.3645094"},{"key":"e_1_2_9_12_1","doi-asserted-by":"crossref","unstructured":"Gu N. D.Wang Z.Peng et al.2022. Advances in Line\u2010of\u2010sight Guidance for Path Following of Autonomous Marine Vehicles: An Overview. 53(1) 12\u201328.","DOI":"10.1109\/TSMC.2022.3162862"},{"key":"e_1_2_9_13_1","doi-asserted-by":"crossref","unstructured":"Guo Y. C.Yu X.Xiang C.Liu andL.Lian.2025. \u201cPath Following Control of an Underactuated AUV: A Prescribed Performance and Tunable Prescribed Time\u2010Based Approach.\u201d113 no.7: 7013\u20137028.","DOI":"10.1007\/s11071-024-10717-5"},{"key":"e_1_2_9_14_1","article-title":"Three\u2010Dimensional Path Following Control of Underactuated AUV Based on Nonlinear Disturbance Observer and Adaptive Line\u2010of\u2010Sight Guidance","volume":"12","author":"He L.","year":"2024","journal-title":"IEEE Access"},{"key":"e_1_2_9_15_1","volume-title":"Nonlinear and Adaptive Control Design","author":"Krstic M.","year":"1995"},{"key":"e_1_2_9_16_1","doi-asserted-by":"crossref","unstructured":"Liu C. X.Xiang Y.Duan L.Yang andS.Yang.2024. ADRC\u2010SMC\u2010Based Disturbance Rejection Depth\u2010tracking Control of Underactuated AUV. 41(4) 1103\u20131115.","DOI":"10.1002\/rob.22312"},{"key":"e_1_2_9_17_1","doi-asserted-by":"crossref","unstructured":"Liu F. Y.Shen B.He et al.2019. Drift Angle Compensation\u2010based Adaptive Line\u2010of\u2010Sight Path Following for Autonomous Underwater Vehicle. 93 101943.","DOI":"10.1016\/j.apor.2019.101943"},{"key":"e_1_2_9_18_1","doi-asserted-by":"crossref","unstructured":"Lou M. X.Yang J.Hu et al.2024. Design and Field Test of Collision Avoidance Method With Prediction for USVs: A Deep Deterministic Policy Gradient Approach. 12(3) 3363\u20133372.","DOI":"10.1109\/JIOT.2024.3479322"},{"key":"e_1_2_9_19_1","doi-asserted-by":"crossref","unstructured":"Martinovi\u0107 L. \u017d.Ze\u010devi\u0107 M.Bibuli M.Caccia and\u00d0. J. I. aNa\u01112024. Adaptive Observer\u2010based Line\u2010of\u2010sight Guidance Law for Path Following of Underactuated Unmanned Surface Vehicle With Sideslip Compensation. 12 144992\u2013145002.","DOI":"10.1109\/ACCESS.2024.3471790"},{"key":"e_1_2_9_20_1","doi-asserted-by":"crossref","unstructured":"Mu D. J.Li G.Wang andY.Fan2024. \u201cDisturbance Rejection Control of Adaptive Integral LOS Unmanned Ship Path Following Based on Fast Wave Inversion.\u201d 144 103907.","DOI":"10.1016\/j.apor.2024.103907"},{"key":"e_1_2_9_21_1","article-title":"An Improved Pure Pursuit Algorithm for the Automated Steering Control of Road Vehicles","author":"Rahman S.","year":"2023","journal-title":"Paper Presented at the IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks"},{"key":"e_1_2_9_22_1","doi-asserted-by":"crossref","unstructured":"Sahoo A. S. K.Dwivedy andP.Robi.2019. \u201cAdvancements in the Field of Autonomous Underwater Vehicle.\u201d 181 145\u2013160.","DOI":"10.1016\/j.oceaneng.2019.04.011"},{"key":"e_1_2_9_23_1","volume-title":"Paper presented at the OCEANS 2022","author":"Shen G.","year":"2022"},{"key":"e_1_2_9_24_1","doi-asserted-by":"crossref","unstructured":"Shukla A. H. J. R.Karki andasystems.2016. Application of Robotics in offshore Oil and Gas industry\u2014A Review Part II. 75 508\u2013524.","DOI":"10.1016\/j.robot.2015.09.013"},{"key":"e_1_2_9_25_1","doi-asserted-by":"crossref","unstructured":"Su X. X.Xiang D.Dong andJ.Zhang2020. Visual LOS Guided Docking of Over\u2010Actuated Underwater Vehicle. Paper presented at the Global Oceans 2020: Singapore\u2013US Gulf Coast.","DOI":"10.1109\/IEEECONF38699.2020.9389372"},{"key":"e_1_2_9_26_1","doi-asserted-by":"crossref","unstructured":"Tian Q. T.Wang Y.Song Y.Wang B.Liu.2023. \u201cAutonomous Underwater Vehicle Path Tracking Based on the Optimal Fuzzy Controller With Multiple Performance Indexes.\u201dJournal of Marine Science and Engineering11 no13:463.","DOI":"10.3390\/jmse11030463"},{"key":"e_1_2_9_27_1","doi-asserted-by":"crossref","unstructured":"Wang D. B.He Y.Shen et al.2022. \u201cA Modified ALOS Method of Path Tracking for AUVS With Reinforcement Learning Accelerated by Dynamic Data\u2010Driven AUV Model.\u201d104 no3:49.","DOI":"10.1007\/s10846-021-01504-0"},{"key":"e_1_2_9_28_1","doi-asserted-by":"crossref","unstructured":"Wang M. Y.Su andN.Wu et al.2023. \u201cVector Field\u2010Based Integral LOS Path Following Field\u2010Based Integral LOS Path Following and.\u201d target tracking for underactuated unmanned surface vehicle 285: 115462.","DOI":"10.1016\/j.oceaneng.2023.115462"},{"key":"e_1_2_9_29_1","doi-asserted-by":"crossref","unstructured":"Xiaofei Y. S.Yilun L.Wei Y.Hui Z.Weibo andX.Zhengrong.2022. \u201cGlobal Path Planning Algorithm Based on Double DQN for Multi\u2010Tasks Amphibious Unmanned Surface Vehicle.\u201d266 112809.","DOI":"10.1016\/j.oceaneng.2022.112809"},{"key":"e_1_2_9_30_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-025-10900-2"},{"key":"e_1_2_9_31_1","doi-asserted-by":"crossref","unstructured":"Yang N. C.Shen Z.Song M.Johnson\u2010Roberson andJ.Sun.2023. \u201cRobust Energy\u2010Optimal Control for 3\u2010D Path\u2010following of Autonomous Underwater Vehicles Under Ocean Currents.\u201dTransactions on Control Systems Technology32 no.2: 680\u2013687.","DOI":"10.1109\/TCST.2023.3315602"},{"issue":"20","key":"e_1_2_9_32_1","first-page":"43255","article-title":"A Pseudo\u2010trajectory Homotopy Method for Umvs Information Collection IoT System With an Underwater Communication Constraint","volume":"12","author":"Yang Z.","year":"2025","journal-title":"Internet of Things Journal"},{"key":"e_1_2_9_33_1","article-title":"A Modified LOS Path Following Control for Underactuated AUVs in the Presence of Ocean Currents","author":"Zeng J.","year":"2017","journal-title":"Paper presented at the OCEANS 2017\u2010Anchorage"},{"key":"e_1_2_9_34_1","doi-asserted-by":"crossref","unstructured":"Zhang J. X.Xiang W.Li Q.Zhang.2023. Adaptive Saturated Path following Control of Underactuated AUV With Unmodeled Dynamics and Unknown Actuator Hysteresis. 53(10) 6018\u20136030.","DOI":"10.1109\/TSMC.2023.3280065"},{"key":"e_1_2_9_35_1","article-title":"Path Following Control for Static Docking Recovery of an Underactuated AUV in the Presence of Ocean Current Disturbances","author":"Zhang X.","year":"2019","journal-title":"Paper presented at the 2019 Chinese Control and Decision Conference (CCDC)"},{"key":"e_1_2_9_36_1","doi-asserted-by":"crossref","unstructured":"Zhu H. X.Xia Y.Zhang et al.2026. Event\u2010Driven Control Approach of Cooperative Localization\u2010Formation Hybrid for Internet of Multi\u2010USV.","DOI":"10.1109\/TAES.2026.3658274"},{"key":"e_1_2_9_37_1","doi-asserted-by":"crossref","unstructured":"Zhu H. H.Yu andC.Guo2023. \u201cFinite Time PAILOS Based Path Following Control of Underactuated Marine Surface Vessel With Input Saturation.\u201d 135 66\u201377.","DOI":"10.1016\/j.isatra.2022.09.027"}],"container-title":["Journal of Field Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.70243","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/rob.70243","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.70243","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,8]],"date-time":"2026-09-08T15:33:36Z","timestamp":1788881616000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.70243"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,5,18]]},"references-count":36,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2026,10]]}},"alternative-id":["10.1002\/rob.70243"],"URL":"https:\/\/doi.org\/10.1002\/rob.70243","archive":["Portico"],"relation":{},"ISSN":["1556-4959","1556-4967"],"issn-type":[{"value":"1556-4959","type":"print"},{"value":"1556-4967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,5,18]]},"assertion":[{"value":"2026-01-19","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-05-05","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-05-18","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}