An improved line-of-sight guidance law is proposed for path following of under-actuated unmanned surface vehicles subjected to time-varying ocean currents. A reduced-order extended state observer is integrated with an adaptive measurement method to simultaneously and exactly estimate the unknown sideslip angle and external disturbance. Moreover, the desired surge velocity is designed to adaptively respond to changes in path curvature, look-ahead distance, and cross-track error. A cross-track error-based method is adopted to dynamically adjust the look-ahead distance. Upon verifying the stability of the improved guidance law, simulation results and comparative studies are provided to demonstrate the effectiveness in accelerating the convergence and enhancing the accuracy of path-following.
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