Guidance Laws for Path Following Control of Surface Vehicles

This paper investigates the fixed-time guidance laws for surface vehicles to pursue the maneuvering target at a desired heading in the presence of disturbance. We propose a new guidance law based on the constant bearing principle, which guarantees the fixed-time convergence of the line-of-sight angular rate regardless of different initial states. Using the proposed guidance law and a new sliding surface, we can track the maneuvering target at a desired angle in fixed time. The proposed algorithms are validated in several simulations.