为提高弯曲航道非均匀流场时变干扰下的路径跟踪精度，提出一种基于曲率自适应视线（LOS）导引与复合控制的路径跟踪方法。通过构建非均匀流场下的三自由度船舶操纵运动模型，采用滑动窗口加权滤波算法在线辨识航道曲率，建立曲率-航速耦合的自适应LOS导引策略，实现前视距离的动态调整，有效抑制了大曲率航段的跟踪超调。针对时变扰动问题，引入扩张状态观测器（ESO）将风、流等扰动统一估计并进行前馈补偿；结合模糊自整定比例-积分-微分（PID）控制器实现参数实时优化，增强系统在复杂干扰下的鲁棒性。仿真结果表明：所提方法在弯曲航道实验工况下，航迹偏差小于1.2倍船宽，航向偏差均方根误差小于1.7°，并始终保持与航道边界2.3倍船宽以上的安全距离。

To improve path-following accuracy in curved channel with time-varying non-uniform flow disturbances, this paper proposes a path-following method based on a curvature-adaptive line of sight (LOS) guidance law and composite control. A three-degree-of-freedom ship maneuvering model is established considering the non-uniform flow field. A sliding-window weighted filtering algorithm is employed for the online identification of channel curvature, which informs a curvature-speed coupled adaptive LOS strategy. This strategy dynamically adjusts the look-ahead distance, effectively suppressing tracking overshoot in high-curvature segments. To address time-varying disturbances, an extended state observer (ESO) is introduced to collectively estimate and provide feedforward compensation for disturbances such as wind and current. This is combined with a fuzzy self-tuning proportional-integral-derivative（PID）controller that optimizes parameters in real-time, thereby enhancing the system's robustness against complex disturbances. Simulation results demonstrate that under the tested curved channel conditions, the proposed method achieves a track error of less than 1.2 times the ship's breadth and a root mean square error of heading error below 1.7°, while consistently maintaining a safe distance of over 2.3 times the ship's breadth from the channel boundaries.