中文摘要：

针对欠驱动水面船舶的航迹跟踪控制面临着本质非线性、强耦合和无法线性化处理的控制等问题，首先通过对欠驱动水面船舶航迹控制系统的非线性模型．进行全局微分同胚和反馈变换，构造了由2个级联的子系统构成的航迹跟踪误差系统，然后基于反步法的设计原理，运用Lyapunov直接方法对变换后的误差系统设计了航迹跟踪控制律，该控制律可以实现一定条件下欠驱动水面船舶的曲线航迹跟踪．仿真结果验证了该控制律的有效性．

英文摘要：

Tracking control of underactuated surface vessels is a challenging problem, proving to be inherently non linear with strong coupling and not amenable to linear control theory. For a nonlinear model of a tracking control system, a tracking control error system was constructed after global diffeomorphism and feedback transformations; this system consists of two cascaded subsystems. Then explicit formulas of the feedback tracking control law were proposed by the application of Lyapunov~ direct method and backstepping strategy. The control law can implement curve tracking of underactuated surface vessels on a certain condition. Simulation results validate the proposed tracking methodology.