中文摘要：

针对非线性、易受扰动的欠驱动船舶航迹控制系统，提出一种非线性鲁棒控制算法。该算法运用滑模方法．并结合增量反馈控制，不用对不确定的风、流干扰进行定性估计就可保证闭环控制系统的渐近稳定。应用“育龙”轮的系统模型进行仿真，结果表明．控制器能够有效解决航迹控制系统中的流致漂移问题，而且对风、流十扰以及系统摄动不敏感，具有强鲁棒性。

英文摘要：

A nonlinear control method is presented for straight-path following problem of underactuated ships with states constraints, actuator saturation and parametric uncertainties under bounded exogenous disturbances, including an ocean current. The method combines the sliding mode method with increment feedback and ignores uncertainty estimating. The results of numerical simulation on a training ship proves the control method is effective in solving the lateral drift of the ship with excellent robustness and invariability to turbulences.