ORIGINAL RESEARCH article
Front. Robot. AI
Sec. Robotic Control Systems
Volume 12 - 2025 | doi: 10.3389/frobt.2025.1598982
Geometric Line-of-Sight Guidance Law with Exponential Switching Sliding Mode Control for Marine Vehicles' Path Following
Provisionally accepted
- Naval University of Engineering, Wuhan, China
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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's 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's global asymptotic stability. Through a series of numerical simulations, the effectiveness, robustness, and adaptability of our proposed methods are verified.
Keywords: Guidance law, line-of-sigh, Path following, sliding mode control, marine vehicles, Global asymptotic stability
Received: 24 Mar 2025; Accepted: 04 Jun 2025.
Copyright: © 2025 Yuan, Shuai, Zhang and Ma. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence: Chengren Yuan, Naval University of Engineering, Wuhan, China
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