{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T16:31:47Z","timestamp":1753893107048,"version":"3.41.2"},"reference-count":39,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2025,6,23]],"date-time":"2025-06-23T00:00:00Z","timestamp":1750636800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Marine vehicle guidance and control technology serves as the core support for advancing marine development and enabling scientific exploration. Its accuracy, autonomy, and environmental adaptability directly determine a vehicle\u2019s mission effectiveness in complex marine environments. This paper explores path following for marine vehicles in the horizontal plane. To tackle the limitation of a fixed look-ahead distance, we develop a novel geometric line-of-sight guidance law. It adapts to diverse compound paths by dynamically adjusting according to cross-track errors and local path curvature. Then, to enhance control performance, we present an improved exponential switching law for sliding mode control, enabling rapid convergence, disturbance rejection, and chatter reduction. Additionally, integral sliding mode control is integrated to stabilize yaw angular velocity, ensuring the system\u2019s global asymptotic stability. Through a series of numerical simulations, the effectiveness, robustness, and adaptability of our proposed methods are verified.<\/jats:p>","DOI":"10.3389\/frobt.2025.1598982","type":"journal-article","created":{"date-parts":[[2025,6,23]],"date-time":"2025-06-23T04:11:44Z","timestamp":1750651904000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Geometric line-of-sight guidance law with exponential switching sliding mode control for marine vehicles\u2019 path following"],"prefix":"10.3389","volume":"12","author":[{"given":"Chengren","family":"Yuan","sequence":"first","affiliation":[]},{"given":"Changgeng","family":"Shuai","sequence":"additional","affiliation":[]},{"given":"Zhanshuo","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Buyun","family":"Li","sequence":"additional","affiliation":[]},{"given":"Yuqiang","family":"Cheng","sequence":"additional","affiliation":[]},{"given":"Jianguo","family":"Ma","sequence":"additional","affiliation":[]}],"member":"1965","published-online":{"date-parts":[[2025,6,23]]},"reference":[{"key":"B1","doi-asserted-by":"crossref","first-page":"4984","DOI":"10.1109\/CDC.2008.4739352","article-title":"Integral los control for path following of underactuated marine surface vessels in the presence of constant ocean currents","volume-title":"2008 47th IEEE conference on decision and control","author":"Borhaug","year":"2008"},{"key":"B2","first-page":"2807","article-title":"Guidance-based path following for autonomous underwater vehicles","volume-title":"Proceedings of oceans 2005 MTS\/IEEE","author":"Breivik","year":""},{"key":"B3","first-page":"627","article-title":"Principles of guidance-based path following in 2d and 3d","volume-title":"Proceedings of the 44th IEEE Conference on Decision and control","author":"Breivik","year":""},{"key":"B4","doi-asserted-by":"publisher","first-page":"1281","DOI":"10.1016\/s0010-4485(03)00109-x","article-title":"Oriented bounding box and octree based global interference detection in 5-axis machining of free-form surfaces","volume":"36","author":"Ding","year":"2004","journal-title":"Computer-Aided Des."},{"key":"B5","doi-asserted-by":"publisher","first-page":"613","DOI":"10.1016\/j.oceaneng.2016.10.032","article-title":"Terminal sliding mode control for the trajectory tracking of underactuated autonomous underwater vehicles","volume":"129","author":"Elmokadem","year":"2017","journal-title":"Ocean. Eng."},{"key":"B6","first-page":"2977","article-title":"3d path following for autonomous underwater vehicle","volume-title":"Proc. 39th IEEE Conf. Decis. control cat. No. 00CH37187","author":"Encarnacao","year":"2000"},{"key":"B7","doi-asserted-by":"crossref","DOI":"10.1002\/9781119994138","volume-title":"Handbook of marine craft hydrodynamics and motion control","author":"Fossen","year":"2011"},{"key":"B8","doi-asserted-by":"publisher","first-page":"445","DOI":"10.1002\/acs.2550","article-title":"Direct and indirect adaptive integral line-of-sight path-following controllers for marine craft exposed to ocean currents","volume":"31","author":"Fossen","year":"2017","journal-title":"Int. J. Adapt. control signal Process."},{"key":"B9","doi-asserted-by":"publisher","first-page":"2912","DOI":"10.1016\/j.automatica.2014.10.018","article-title":"On uniform semiglobal exponential stability (usges) of proportional line-of-sight guidance laws","volume":"50","author":"Fossen","year":"2014","journal-title":"Automatica"},{"key":"B10","doi-asserted-by":"publisher","first-page":"820","DOI":"10.1109\/tcst.2014.2338354","article-title":"Line-of-sight path following for dubins paths with adaptive sideslip compensation of drift forces","volume":"23","author":"Fossen","year":"2014","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"B11","doi-asserted-by":"publisher","first-page":"66","DOI":"10.11991\/yykj.201706005","article-title":"Path tracking control algorithm based on los method for surface self-propulsion vessel","volume":"45","author":"Han","year":"2018","journal-title":"Appl. Sci. Technol."},{"key":"B12","doi-asserted-by":"publisher","first-page":"1288","DOI":"10.1109\/tase.2020.3001183","article-title":"Robust trajectory tracking control for underactuated autonomous underwater vehicles in uncertain environments","volume":"18","author":"Heshmati-Alamdari","year":"2020","journal-title":"IEEE Trans. Automation Sci. Eng."},{"key":"B13","doi-asserted-by":"publisher","first-page":"478","DOI":"10.1007\/s12555-019-0673-5","article-title":"Current estimation and path following for an autonomous underwater vehicle (auv) by using a high-gain observer based on an auv dynamic model","volume":"19","author":"Kim","year":"2021","journal-title":"Int. J. Control, Automation Syst."},{"key":"B14","doi-asserted-by":"publisher","first-page":"1293","DOI":"10.1049\/iet-cta.2017.0016","article-title":"Adaptive non-singular integral terminal sliding mode tracking control for autonomous underwater vehicles","volume":"11","author":"Lei","year":"2017","journal-title":"IET Control Theory & Appl."},{"key":"B15","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1515\/pomr-2017-0001","article-title":"Path following control of the underactuated usv based on the improved line-of-sight guidance algorithm","volume":"24","author":"Liu","year":"2017","journal-title":"Pol. Marit. Res."},{"key":"B16","doi-asserted-by":"publisher","first-page":"893","DOI":"10.1109\/tiv.2023.3282681","article-title":"Neural network model-based reinforcement learning control for auv 3-d path following","volume":"9","author":"Ma","year":"2023","journal-title":"IEEE Trans. Intelligent Veh."},{"key":"B17","doi-asserted-by":"publisher","first-page":"2441","DOI":"10.1007\/s11071-017-3596-9","article-title":"Compound line-of-sight nonlinear path following control of underactuated marine vehicles exposed to wind, waves, and ocean currents","volume":"89","author":"Miao","year":"2017","journal-title":"Nonlinear Dyn."},{"key":"B18","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2018\/7512606","article-title":"Fuzzy-based optimal adaptive line-of-sight path following for underactuated unmanned surface vehicle with uncertainties and time-varying disturbances","volume":"2018","author":"Mu","year":"2018","journal-title":"Math. Problems Eng."},{"key":"B19","doi-asserted-by":"publisher","first-page":"372","DOI":"10.1016\/j.oceaneng.2018.03.082","article-title":"Disturbance estimator based non-singular fast fuzzy terminal sliding mode control of an autonomous underwater vehicle","volume":"159","author":"Patre","year":"2018","journal-title":"Ocean. Eng."},{"key":"B20","doi-asserted-by":"crossref","DOI":"10.1575\/1912\/3040","volume-title":"Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle","author":"Prestero","year":"2001"},{"key":"B21","doi-asserted-by":"publisher","first-page":"1248","DOI":"10.1109\/tii.2019.2949007","article-title":"Trajectory tracking control of auvs via adaptive fast nonsingular integral terminal sliding mode control","volume":"16","author":"Qiao","year":"2019","journal-title":"IEEE Trans. Industrial Inf."},{"key":"B22","doi-asserted-by":"publisher","first-page":"3192","DOI":"10.1109\/lra.2019.2925733","article-title":"Robust moving path following control for robotic vehicles: theory and experiments","volume":"4","author":"Reis","year":"2019","journal-title":"IEEE Robotics Automation Lett."},{"key":"B23","doi-asserted-by":"publisher","first-page":"1019385","DOI":"10.3389\/fmars.2022.1019385","article-title":"Motion parameter estimation of auv based on underwater acoustic Doppler frequency measured by single hydrophone","volume":"9","author":"Rong","year":"2022","journal-title":"Front. Mar. Sci."},{"key":"B24","doi-asserted-by":"publisher","first-page":"108650","DOI":"10.1016\/j.automatica.2019.108650","article-title":"On adaptive sliding mode control without a priori bounded uncertainty","volume":"111","author":"Roy","year":"2020","journal-title":"Automatica"},{"key":"B25","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/taes.2025.3562840","article-title":"Anti-disturbance tracking control of rigid spacecraft attitude systems with saturation and asymmetric constraints","author":"Song","year":"2025","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"B26","doi-asserted-by":"publisher","first-page":"7733","DOI":"10.1109\/tvt.2024.3357731","article-title":"Cascaded extended state observers-based fixed-time line-of-sight path following control for unmanned surface vessels with disturbances and saturation","volume":"73","author":"Song","year":"","journal-title":"IEEE Trans. Veh. Technol."},{"key":"B27","doi-asserted-by":"publisher","first-page":"61","DOI":"10.1016\/j.isatra.2024.01.016","article-title":"A finite-time path following scheme of unmanned surface vessels with an optimization strategy","volume":"146","author":"Song","year":"","journal-title":"ISA Trans."},{"key":"B28","doi-asserted-by":"publisher","first-page":"106","DOI":"10.1016\/j.isatra.2021.02.006","article-title":"Model free adaptive control of the under-actuated robot manipulator with the chaotic dynamics","volume":"118","author":"Tutsoy","year":"2021","journal-title":"ISA Trans."},{"key":"B29","doi-asserted-by":"publisher","DOI":"10.3389\/fmars.2023.1228306","article-title":"Auv planning and calibration method considering concealment in uncertain environments","volume":"10","author":"Wang","year":"2023","journal-title":"Front. Mar. Sci."},{"key":"B30","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1007\/s10846-021-01504-0","article-title":"A modified alos method of path tracking for auvs with reinforcement learning accelerated by dynamic data-driven auv model","volume":"104","author":"Wang","year":"2022","journal-title":"J. Intelligent & Robotic Syst."},{"key":"B31","doi-asserted-by":"publisher","first-page":"118165","DOI":"10.1016\/j.oceaneng.2024.118165","article-title":"Fixed-time dynamic event-triggered three-dimensional formation control for multi-auv system with disturbance observer","volume":"308","author":"Wang","year":"2024","journal-title":"Ocean. Eng."},{"key":"B32","doi-asserted-by":"publisher","first-page":"102994","DOI":"10.1016\/j.apor.2021.102994","article-title":"Adaptive energy-efficient tracking control of a x rudder auv with actuator dynamics and rolling restriction","volume":"118","author":"Xia","year":"2022","journal-title":"Appl. Ocean Res."},{"key":"B33","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1016\/j.robot.2014.09.024","article-title":"Smooth transition of auv motion control: from fully-actuated to under-actuated configuration","volume":"67","author":"Xiang","year":"2015","journal-title":"Robotics Aut. Syst."},{"key":"B34","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1016\/j.cor.2016.09.017","article-title":"Robust fuzzy 3d path following for autonomous underwater vehicle subject to uncertainties","volume":"84","author":"Xiang","year":"2017","journal-title":"Comput. & Operations Res."},{"key":"B35","doi-asserted-by":"publisher","first-page":"5575","DOI":"10.1109\/lra.2022.3157543","article-title":"Auv motion planning in uncertain flow fields using bayes adaptive mdps","volume":"7","author":"Xu","year":"2022","journal-title":"IEEE Robotics Automation Lett."},{"key":"B36","doi-asserted-by":"publisher","first-page":"107410","DOI":"10.1016\/j.oceaneng.2020.107410","article-title":"Line-of-sight guided time delay control for three-dimensional coupled path following of underactuated underwater vehicles with roll dynamics","volume":"207","author":"Yu","year":"2020","journal-title":"Ocean. Eng."},{"key":"B37","doi-asserted-by":"publisher","first-page":"1887","DOI":"10.1109\/tcyb.2018.2890582","article-title":"Guidance-error-based robust fuzzy adaptive control for bottom following of a flight-style auv with saturated actuator dynamics","volume":"50","author":"Yu","year":"2019","journal-title":"IEEE Trans. Cybern."},{"key":"B38","doi-asserted-by":"publisher","first-page":"1408","DOI":"10.3390\/jmse10101408","article-title":"Decoupled planes\u2019 non-singular adaptive integral terminal sliding mode trajectory tracking control for x-rudder auvs under time-varying unknown disturbances","volume":"10","author":"Yuan","year":"2022","journal-title":"J. Mar. Sci. Eng."},{"key":"B39","doi-asserted-by":"publisher","first-page":"114056","DOI":"10.1016\/j.oceaneng.2023.114056","article-title":"Adaptive optimal 3d nonlinear compound line-of-sight trajectory tracking control for over-actuated auvs in attitude space","volume":"274","author":"Yuan","year":"2023","journal-title":"Ocean. Eng."}],"container-title":["Frontiers in Robotics and AI"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2025.1598982\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,23]],"date-time":"2025-06-23T04:11:47Z","timestamp":1750651907000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2025.1598982\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6,23]]},"references-count":39,"alternative-id":["10.3389\/frobt.2025.1598982"],"URL":"https:\/\/doi.org\/10.3389\/frobt.2025.1598982","relation":{},"ISSN":["2296-9144"],"issn-type":[{"type":"electronic","value":"2296-9144"}],"subject":[],"published":{"date-parts":[[2025,6,23]]},"article-number":"1598982"}}