# A Path-Following Controller for Marine Vehicles Using a Two-Scale Inner-Outer Loop Approach

> Research article (Sensors, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4281811900](https://www.wikidata.org/wiki/openalex:W4281811900)  
**Source**: https://4ort.xyz/entity/a-path-following-controller-for-marine-vehicles-using-a-two-scale-inner-outer-loop-approach