The ship straight-line tracking system is restricted by a nonintegrable second order nonholonomic constraint,so it has underactuated characteristic and is difficult to control.In this paper,first the control of the ship straight-line tracking was converted to the control of an actuated system by the output variable redefined method.The stabilization of ship straight-line tracking system,which can be ensured by the stabilization of the new system,was proved.Then the nonlinear continuous predictive variable structure control method was used to control the new system.The simulation showed the validity of this method,which can stabilized the course and sideslip synchronal,that is,the stabilization of the ship tracking system.Moreover the control performance was excellent even the system was affected by the parameter uncertainty and disturbance,the results show the strong robustness of this method.
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