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In this paper a solution to the problem of following a curved path in thepresence of a constant unknown ocean current disturbance is presented. Weintroduce a path variable that represents the curvilinear abscissa on the pathwhich is used to propagate the path-tangential reference frame. The proposeddynamic update law of the path variable is non singular and the guidance law isdesigned such that the vessel can reject constant unknown ocean currents byusing an ocean current observer. It is shown that the closed-loop systemcomposed of the guidance law, controller and observer provides globallyasymptotically stable and locally exponentially stable path following errors.The sway velocity dynamics is analyzed and, under adequate hypothesis on thepath curvature, it is shown that the dynamics are well behaved and that theguidance law to exist. Simulations are presented to verify the theoreticalfindings.

Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Global Approach - With proofs