中文摘要：

针对单泵喷水推进型欠驱动无人水面艇（USV）的直线航迹非线性控制系统，设计了一种反步自适应滑模控制器。该系统由无人艇艏摇非线性响应模型和舵机伺服系统组成，运动响应模型考虑了船舶参数的不确定性和外界干扰的随机性特点。利用全局坐标变换将原系统变换为具有下三角特征的非线性系统。基于Backstepping方法和滑模控制理论，提出了一种直线航迹自适应滑模控制律。利用Lyapunov函数，证明该控制律保证了直线航迹控制系统的全局渐近稳定性。仿真结果表明控制器对系统参数摄动和外界干扰不敏感，具有强鲁棒性和自适应性。

英文摘要：

A Backstepping adaptive sliding-mode controller was designed for the straight-line trajectory nonlinear control system of single water-jet-propelled underactuated unmanned surface vessels. The system consisted of the nonlinear ship response model and the rudder servosystem. The motion response model took account of the modeling errors and external disturbances. The original system was transformed into a nonlinear system based on the global coordi- nate transform. A straight-line trajectory adaptive sliding-mode control law was proposed based on the sliding-mode control theory and the Backstepping method. By means of the Lyapunov function, it was proven that the proposed control law can render the straight-line trajectory control system globally, asymptotically stable. The simulation results verified that the controller was robust to the systemic variations or disturbances.