中文摘要：

研究了船舶编队的航行补给控制问题,将其归结为补给船舶与船舶编队的同步航迹跟踪控制问题.运用李亚普诺夫稳定性理论,提出了一种能克服风、浪及洋流等海洋环境干扰的补给船舶非线性自适应PD（比例—微分）航迹跟踪控制方法.以图论和一致性算法为基础,设计了补给船舶的航迹控制器,解决了通信限制条件下的补给船舶与船舶编队的同步控制问题.仿真结果证明了所设计的控制方法的正确性及有效性.

英文摘要：

The problem of underway replenishment control for vessels cruising in formation is investigated,which is treated as a synchronizing path tracking control problem of the replenishment ship and the group of vessels cruising in formation.Based on Lyapunov stability theory,a nonlinear adaptive PD（proportional-derivative） control method is presented for path tracking control of the replenishment ships which can reject the influence of environmental disturbances induced by the wave,the wind and the ocean-current.Based on a consensus algorithm and graph theory,a trajectory controller is designed for the replenishment ship to synchronize with the ship formation in the presence of unreliable communication.The simulation results prove the correctness and effectiveness of the proposed control method.