Aiming　at　the　reverse　peak　of　course　output　in　the　initial　stage　when　Nussbaum　function　is　used　to　deal　with　the　unknown　parameters　in　the　course　control　process　of　USV,　an　backstepping　control　method　based　on　prescribed　performance　is　proposed　to　solve　the　problem　of　reverse　peak.　The　course　control　system　is　divided　into　course　subsystem　and　angular　velocity　subsystem,　the　error　of　the　angular　velocity　subsystem　is　processed　by　the　prescribed　performance,　the　reverse　transitivity　of　the　prescribed　performance　ensures　that　the　error　of　the　two　subsystems　is　within　the　predefined　range.　Based　on　specified　performance,　the　backstepping　method　is　combined　to　the　Nussbaum　function　design　to　reach　a　desired　course　in　spite　of　the　unknown　parameters.　The　simulation　results　show　that　the　prescribed　performance　backstepping　control　is　effective　in　ballast　and　full　load　conditions.　©　2022,　The　Author(s),　under　exclusive　license　to　Springer　Nature　Singapore　Pte　Ltd.