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An Adaptive Fixed-Time Line-of-Sight Guidance Scheme for 3D Path Following of Underwater Vehicles: Theory and Experiment

arXiv · AI, language, vision and robotics · article · Sep 13, 2026 · UTC

Reliable path tracking is crucial for autonomous underwater vehicles (AUVs) operating in dynamic and uncertain marine environments. However, traditional line-of-sight (LOS) guidance methods rely on asymptotic convergence, resulting in slow disturbance recovery and unpredictable tracking performance. Existing robust control methods typically require modifications to the underlying vehicle controller, limiting their practical application on commercial AUV platforms. This paper proposes a robust fixed-time adaptive LOS guidance framework for 3D path tracking for AUVs. By combining fixed-time stab

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