We consider the problem of tracking a desired trajectory with a desired velocity for a marine vehicle. There are possibly fast time-varying uncertainties which may exist in the model, the inputs, the ocean currents, as well as environment disturbances. Based on the possible bound of the uncertainties and some structure properties the marine vehicle are met, a state transformation is made to the dynamics of error of the marine vehicle. A robust control scheme is proposed which renders the transformed system practically stable. A proof shows that the original uncertain marine vehicle under this control will also be practically stable. Furthermore, the uniform ultimate boundedness ball and uniform stability ball of the marine vehicle can be made arbitrarily small by suitable choice of the design parameters.

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