针对无人水面航行器(USV)的欠驱动特性,研究了其在水平面内的轨迹跟踪问题。基于Lyapunov直接法及串接-反步技术,采用一种带有动力学震荡器的跟踪误差变换,设计了一种统一的连续时变状态反馈控制律,并给出了参数自适应更新律以估计USV的非线性阻力参数,使得USV的位置及方向角的跟踪误差全局渐近收敛,并且USV的跟踪性能与外界干扰的大小无关。仿真结果证明所提出的方法是有效的。 Aiming at the under-driving characteristics of unmanned surface vehicle (USV), its trajectory tracking problem in horizontal plane is studied. Based on the Lyapunov direct method and tandem-backstepping technique, a tracking error transform with dynamic oscillator is used to design a unified continuous time-varying state feedback control law, and a parameter adaptive updating law is given The non-linear resistance parameters of USV are estimated, so that the tracking error of the position and azimuth angle of USV is globally asymptotically convergent, and the tracking performance of USV has nothing to do with the size of external disturbances. Simulation results show that the proposed method is effective.