中文摘要：

基于包括科氏向心矩阵和非线性阻尼项的、带恒值扰动的非线性船舶水面运动数学模型，采用带积分器的逆推（Backstepping）设计工具，设计船舶航迹跟踪控制律；并借助Lyapunov函数、应用相关引理证明了所设计的船舶航迹跟踪控制律使得最终的闭环航迹跟踪控制系统一致全局渐近稳定，达到航迹跟踪控制的目的．仿真研究表明，所设计的控制律使船舶能够克服恒值扰动跟踪期望航迹，且控制量合理，从而验证了所设计控制律的有效性．

英文摘要：

Based on Backstepping design tool with integrator, a ship trajectory tracking control law is designed to the nonlinear ship surface movement mathematical model with constant disturbance including the Coriolis and centripetal matrix and nonlinear damp term. By means of Lyapunov function and the related lemma, it is proved that the designed ship trajectory tracking control law makes the resulting closed loop trajectory tracking control system be uniformly globally asymptotically stable, which achieves ship trajectory tracking control. The simulation results show that the actual trajectory of the ship can track the desired one under constant disturbance and the control variable is reasonable. The effectiveness of the designed controller is verified.