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The ability of unmanned surface vehicles (USV) on motion control and the accurate following of preset paths is the embodiment of its autonomy and intelligence, while there is extensive room for improvement when expanding its application scenarios. In this paper, a model fusion of USV and preset path was carried out through the Serret-Frenet coordinate system. Control strategies were then scrupulously designed with the help of Lyapunov stability theory, including resultant velocity control indoi:10.3390/machines10050310 doaj:eb465f5821af40249f0e3fb4d7f388f0 fatcat:iaeavqtygzefno4yveqihhk4zq