In this paper, the path following of underactuated unmanned surface vehicles (USVs) is solved under the circumstance of external environment disturbances, uncertain model parameters, and limited thrust. First, a preset performance line-of-sight guidance law based on the adaptive extended state observer (ESO) is proposed to ensure that the USV can follow the path safely and quickly while restricting the position errors of the desired path. Then, in the dynamic control subsystem, a fixed-time ESO is proposed to improve the convergence rate of the estimated correlated perturbations and unknown state quantities. Finally, a finite-time saturation compensation system is introduced to improve the saturation compensation speed of the actuator when the thrust is finite. The effectiveness of the proposed performance control strategy is verified by path following simulation.

本文研究了欠驱动无人水面航行器(USVs)在外部环境扰动、模型参数不确定、推力有限的情况下的路径跟随问题。首先，提出了一种基于自适应扩展状态观测器（ESO）的预置性能视线制导律，以保证USV在限制期望路径位置误差的同时，能够安全、快速地跟随路径。然后，在动态控制子系统中，提出了固定时间 ESO 以提高估计的相关扰动和未知状态量的收敛速度。最后，引入有限时间饱和补偿系统，提高执行器在推力有限时的饱和补偿速度。