针对非线性船舶航向控制中船舶参数不确定性以及外界干扰随机性的特点,提出了一种基于Backstepping的自适应鲁棒控制器非线性系统的设计方法.为了消除静态误差,设计过程中引入了积分器,并借助Lyapunov函数证明了该控制策略使得闭环系统全局一致最终有界,选取恰当的设计参数可保证航向保持误差任意小.仿真结果表明所设计的控制器是有效的. Aiming at the uncertainties of ship parameters and the randomness of external disturbances in nonlinear ship heading control, a design method of adaptive robust controller nonlinear system based on Backstepping is proposed. In order to eliminate static error, the design process introduces Integrator, and the Lyapunov function is used to prove that the proposed control strategy makes the closed-loop system globally uniform and ultimately bounded, and the appropriate design parameters can ensure the heading error to be as small as possible. Simulation results show that the proposed controller is effective.