In this paper, a novel dynamic surface control is developed by employing the nonlinear continuous predictive approach. The tracking error in the last subsystem is predicted by a functional expansion. To minimize the difference between the predicted and desired response, a control law for the continuous-time system is developed. The stability of the individual controller for the switching phases is discussed. Furthermore, the tracking error is proven to converge to the origin. The continuous predictive control approach based on dynamic surface control is applied to the tracking control of marine vehicles. The actual control in the corresponding subsystems is proposed based on the optimal cost function. By adjusting the weight matrix contained in the optimization performance index, control input in the initial stage can be guaranteed to meet the propelling capability. The proposed method is further applied to the marine vessel in the presence of unknown ocean current disturbance. Simulation studies demonstrate that the proposed control structures show outstanding performance and feasibility.

在本文中，采用非线性连续预测方法开发了一种新颖的动态表面控制。通过功能扩展可预测最后一个子系统中的跟踪错误。为了最小化预测响应与期望响应之间的差异，开发了连续时间系统的控制律。讨论了各个控制器在切换阶段的稳定性。此外，跟踪误差被证明收敛于原点。基于动态表面控制的连续预测控制方法被应用于船舶的跟踪控制。基于最优成本函数，提出了相应子系统中的实际控制方法。通过调整优化效果指标中包含的权重矩阵，可以保证初始阶段的控制输入满足推进能力。所提出的方法被进一步应用于存在未知海流干扰的船舶上。仿真研究表明，所提出的控制结构具有出色的性能和可行性。