“…According to the aforementioned applications of ASVs, the accurate path-following problem of these vehicles has recently become an active and interesting research topic in control and ocean engineering societies. Therefore, a large number of scientific investigations have focused on this problem (Abooee and Arefi, 2019; Ertogan et al, 2015; Huang et al, 2015; Li et al, 2015; Ngo et al, 2017; Skjetne et al, 2005; Sun et al, 2017b; Witkowska and Smierzchalski, 2009) and researchers have applied many different control methods such as PID or PD control (Fang et al, 2012; Larrazabal and Peñas, 2016; Su et al, 2017), sliding mode control (SMC) (Ashrafiuon et al, 2008; Chwa, 2011; Koshkouei et al, 2007; Perera and Soares, 2012; Zhang et al, 2000), backstepping method (Do and Pan, 2006; Huang et al, 2015), model predictive control (MPC) (Li and Sun, 2012; Saari and Djemai, 2012; Tzeng, 1999), adaptive-SMC method (Sun et al, 2017b; Zhang and Zhang, 2015; Zhang et al, 2017; Zheng et al, 2017), adaptive-backstepping method (Do, 2016; Du et al, 2007; Hu et al, 2017; Yin and Xiao, 2017), feedback linearization control (Consolini and Tosques, 2012), adaptive-neural networks method (He et al, 2016, Zhang et al, 2015), adaptive-fuzzy approach (Wang et al, 2016), fuzzy-SMC strategy (Ngo et al, 2017) and fuzzy-neural networks method (Fang and Lee, 2016, Wang and Er, 2014).…”