中文摘要：

针对由航向舵工作范围受限引起的饱和约束下船舶航向控制问题，基于非线性系统反步设计思想，结合Filippov微分包含及非光滑系统Lyapunov稳定性理论提出了1种非光滑反馈控制律设计方法。在考虑航向舵执行机构动态的前提下，利用该方法可获得Lipschitz连续的非光滑反馈控制律，并可实现船舶航向控制系统全局渐近稳定性。数值仿真结果验证了该非光滑设计方法的有效性。

英文摘要：

In order to overcome the design problem of ship steering control caused by the limited motion of the steering engine, a new nonsmooth feedback control law is developed in this work based on backstepping design method of the nonlinear systems with the consideration of Filippov＇s differential inclusion theory and Lyapunov stability theory of the nonsmooth systems. With the mathematical model of the ship steering system including the dynamics of the steering engine, the Lipschitz continuous and nonsmooth feedback controller can be obtained through the proposed design method, which can ensure the globally asympiotic stability of the closed-loop system. The numerical simulation is carried out to verify the nonsmooth control design.