中文摘要：

海底管道铺设是海洋工程中重要的特种作业，铺管循迹问题是一种特殊的具有不确定性的非线性系统输出跟踪问题。针对铺管循迹，首先讨论了铺管船期望路径与管道期望路径的映射关系。然后建立了铺管船及管道的运动学和动力学模型。采用反步滑模法分两步设计控制器，并基于设计过程中Lyapunov 函数的定义，给出系统稳定的充分条件。最后通过仿真实例验证了所提出期望路径之间关系的正确性，及所设计控制器的有效性。为其他同类型输出跟踪问题提供了新的描述和控制方法。

英文摘要：

Pipelaying is a type of important special operation in ocean engineering,with trajectory tracking of pipelaying being a kind of special uncertain nonlinear system output tracking issue. The relationship of the desired trajectory of pipeline and vessel was discussed firstly. The kinematic and dynamic model was developed then. The back-stepping sliding mode method was adopted to design the controller in two steps,besides,the sufficient condition of the stability was given based on the Lyapunov function. The relationship of the desired trajectories along with the validity of the designed controller was certificated by simulation. A new method of describing and controlling the intraclass output tracking issue was offered.