中文摘要：

为解决欠驱动船舶在风浪干扰下不同距离镇定控制及镇定参数优化问题，设计了非连续变参数控制算法．借助微分同胚变换及控制输入变换，将欠驱动船舶运动学及动力学模型转化为具有反馈链式级联形式的两个子系统，基于backstepping技术分别设计了反馈控制率．Lyapunov直接法证明该控制策略可使闭环系统所有信号全局一致渐进稳定．对干扰进行了Lyapunov补偿，得到原系统具有收敛参数可调的非连续反馈控制率．仿真结果表明，控制器对外界干扰具有鲁棒性；可以通过参数优化实现船舶不同距离镇定，并达到不同状态约束要求．

英文摘要：

A discontinuous varying-parameters control algorithm was developed for the stabilization control of an underaetuated surface vessel motion with the disturbances from wind and wave. The kinematic and dynamic models of underactuated sur- face vessel were transformed into two sub-systems by using diffeomorphisms and input transformation. The state feedback control laws were designed based on Lyapunov functions and backstepping techniques, then the disturbances were compensated. Lyapunov direct method was used to verify that the control strategy can make all signals of closed-loop system to be of global uniform asymptotic stabilization and the convergence speed is adjustable. Simulation results show that the controller has robustness against external interference, and stabilization control for underactuated surface vessel motion can be realized by optimizing parameters while meeting requirements of different state constraint.