A mobile machine comprising: a chassis; a plurality of ground-engaging elements for supporting the chassis on a ground surface and propelling the chassis relative to the ground surface, each of the plurality of ground-engaging elements being at a fixed angle relative to the chassis; a plurality of actuators (22, 24) for driving movement of the ground-engaging elements, each of the actuators being configured to drive movement of at least one of the ground-engaging elements independently of the other ground-engaging elements; and a controller for controlling each of the actuators (22, 24) to cause the mobile machine to follow a guidance path along a ground surface, wherein the controller is configured to: receive a prescribed machine velocity ( v x,des), generate a first set of control values for driving the machine according to a first heading based on a reference heading error ( head err,rh) of the machine, generate a second set of control values for driving the machine according to a second heading based on a distance heading error ( head err,d) of the machine, generate a current machine velocity ( v x) using the prescribed machine velocity ( v x,des), the reference heading error ( head err,rh), the distance heading error ( head err,d), a distance to a next guidance path turn, an angle of the next guidance path turn and applying a hyperbolic tangent function to a term derived from the angle of the next guidance path turn, generate control signals for driving the machine by combining the first set of control values, the second set of control values, and the current machine velocity ( v x), and use the control signals to control the actuators (22, 24) to thereby cause the machine to follow the guidance path at the current machine velocity ( v x). a chassis; a plurality of ground-engaging elements for supporting the chassis on a ground surface and propelling the chassis relative to the ground surface, each of the plurality of ground-engaging elements being at a fixed angle relative to the chassis; a plurality of actuators (22, 24) for driving movement of the ground-engaging elements, each of the actuators being configured to drive movement of at least one of the ground-engaging elements independently of the other ground-engaging elements; and a controller for controlling each of the actuators (22, 24) to cause the mobile machine to follow a guidance path along a ground surface, wherein the controller is configured to: receive a prescribed machine velocity ( v x,des), generate a first set of control values for driving the machine according to a first heading based on a reference heading error ( head err,rh) of the machine, generate a second set of control values for driving the machine according to a second heading based on a distance heading error ( head err,d) of the machine, generate a current machine velocity ( v x) using the prescribed machine velocity ( v x,des), the reference heading error ( head err,rh), the distance heading error ( head err,d), a distance to a next guidance path turn, an angle of the next guidance path turn and applying a hyperbolic tangent function to a term derived from the angle of the next guidance path turn, generate control signals for driving the machine by combining the first set of control values, the second set of control values, and the current machine velocity ( v x), and use the control signals to control the actuators (22, 24) to thereby cause the machine to follow the guidance path at the current machine velocity ( v x). receive a prescribed machine velocity ( v x,des), generate a first set of control values for driving the machine according to a first heading based on a reference heading error ( head err,rh) of the machine, generate a second set of control values for driving the machine according to a second heading based on a distance heading error ( head err,d) of the machine, generate a current machine velocity ( v x) using the prescribed machine velocity ( v x,des), the reference heading error ( head err,rh), the distance heading error ( head err,d), a distance to a next guidance path turn, an angle of the next guidance path turn and applying a hyperbolic tangent function to a term derived from the angle of the next guidance path turn, generate control signals for driving the machine by combining the first set of control values, the second set of control values, and the current machine velocity ( v x), and use the control signals to control the actuators (22, 24) to thereby cause the machine to follow the guidance path at the current machine velocity ( v x).