本文针对考虑舵机特性的船舶航向离散不确定非线性系统，提出了一种自适应神经网络输出反馈控制设计方法。首先，构造了等价的考虑舵机特性的船舶航向离散非线性不确定输出反馈系统。随后，仅利用系统控制输入和航向输出，对该输出反馈系统进行自适应神经网络控制器设计。该算法方法简单，且当系统某些状态不可测时，该算法仍是有效的，易于工程中实现。此外，闭环系统中所有的信号可以被证明半全局一致最终有界，船舶航向跟踪误差趋近于零。最后，通过“育鲲”轮仿真实例说明本文所提算法的有效性。

In this paper, output feedback control is investigated for a class of ship course discrete- time uncertain nonlinear system with rudder dynamics in strict-feedback form. Firstly, the original states strict-feedback system is transformed into a cascade form. Then with employment of the control input and course output, the adaptive neural network controller is developed for the output feedback system. The proposed algorithm is simple, it is feasible when some system states are unmeasurable, herein, it is convenient to implemented in application. In addition, It is proven that all the signals in closed-loop system are semi-globally uniformly ultimately bounded (SGUUB), and the tracking error converges to a small neigborhood of the origin. At the last, a simulation of motor vessel “yukun” is employed to illustrate the effectiveness of the proposed algorithem.