Path following of underactuated vehicles via integral line of sight guidance and fixed?time heading control

This study investigates the integral line of sight (ILOS) path-following control problem surface vehicles whose dynamics feature external disturbances, model uncertainties, and actuator dead zones. First, introducing ILOS guidance law, is converted to stabilising a 2nd order nonlinear system. Subsequently, fixed-time observer designed estimate compensate for uncertainties unknown disturbances while overcoming Finally, trajectory tracking strategy based on observer. Numerical examples are given illustrate effectiveness proposed approaches.