This paper presents a 3-D adaptive line-of-sight (ALOS) path-following algorithm for autonomous vehicles, marine craft, and aircraft. The origins of the cross- and vertical-track errors are proven to be uniform semiglobal exponential stable (USGES). The stability proof is based on a kinematic amplitude-phase representation of the North-East-Down (NED) positional rates instead of the classical Euler angle rotation matrix representation. Parameter adaption is used to obtain integral action such that the vehicle converges to the path in the presence of winds, waves, and ocean currents. Typical applications are guidance and path-following control systems for autonomous vehicles, marine craft, and aircraft, where the horizontal- and vertical-plane motions are strongly coupled.

中文翻译：

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用于 3D 路径跟踪的统一半全局指数稳定自适应视线 (ALOS) 制导律

本文提出了一种适用于自动驾驶车辆、船舶和飞机的 3D 自适应视线 (ALOS) 路径跟踪算法。交叉和垂直轨道误差的根源被证明是均匀半全局指数稳定（USGES）。稳定性证明基于东北向下 (NED) 位置速率的运动学振幅相位表示，而不是经典的欧拉角旋转矩阵表示。参数自适应用于获得积分作用，使得车辆在存在风、波浪和洋流的情况下收敛到路径。典型应用是自动驾驶车辆、船舶和飞机的制导和路径跟踪控制系统，其中水平面和垂直面运动是强耦合的。