中文摘要：

针对欠驱动船舶提出了一种非线性路径跟踪控制器，使其能够在风、浪、流等环境干扰下驶入预定的航行路径．欠驱动船舶以恒定前进速度航行，并且其合速度与参考轨迹相切．该控制器的设计使用了解析模型预测控制和干扰观测器技术，其中非线性观测器用来估计环境干扰．在最优路径跟踪控制器的作用下，路径跟踪误差渐近收敛到零．数值仿真结果验证了该控制器的有效性．

英文摘要：

A nonlinear path following controller is presented to force an underactuated ship to follow a reference path with disturbances induced by wind, waves and current. The underactuated ship moves along the reference path at a constant forward speed and its total velocity is tangential to the path. The proposed controller is designed using analytic model predictive control and disturbance observer techniques, where the nonlinear observer is used to estimate the environmental disturbances. The path following errors can asymptotically converge to zero with the optimal path following controller. Numerical simulations are provided to illustrate the effectiveness of the proposed control law.