针对欠驱动水面船舶在模型参数不确定和未知风浪流扰动情况下的路径跟踪问题，提出一种改进的动态虚拟小船(dynamical virtual ship, DVS)制导算法，并采用指令滤波反推法设计模型运动学回路的前进速度和艏摇角速度的虚拟控制律，进而将船舶路径跟踪问题转化为前进速度误差和艏摇角速度误差的镇定问题，在模型动力学回路上采用PI积分滑模控制方法设计实际控制律.该控制策略能够减少和避免因对虚拟控制律求导而造成的计算负担和高频噪声对系统的影响，且对模型参数不确定和未知扰动具有鲁棒性.仿真实验表明，该控制策略可实现船舶在模型参数不确定和未知风浪流扰动下对规划路径的精确跟踪.

Aiming at the path following control of underactuated ships under the condition of model uncertainties and external disturbances due to winds, waves and currents, a novel modified dynamical virtual ship (DVS) guidance algorithm was proposed. Command filter backstepping technology was introduced to design the virtual control law of surge speed and yawing angular velocity in ship’s kinematic loop, and the path following problem was transformed into the error stabilizing problem. In ship’s dynamic loop, PI integral sliding mode control technology was introduced to design the actual control law. In short, this control strategy can reduce the computing burdens and avoid high frequency noise’s influence caused by differentiating the virtual control law, furthermore be robust against the model uncertainties and external disturbances. Simulation experiments show that this control strategy can realize underactuated ship’s precise following of the planned route under the condition of model parameters uncertainties and unknown disturbances coming from winds, waves and currents.