Abstract: Aiming to solve the trajectory-tracking problem of unmanned surface vessels in complex environments, a prescribed performance trajectory-tracking control method with disturbance rejection is proposed. Firstly, a performance function with constraints is introduced to design a prescribed performance backstepping controller. The disturbance observer is used to initialize the model by accurately compensating for the unknown disturbance. The adaptive laws based on leakage terms of σ-modification are used to estimate bounds of disturbance observer errors. The trajectory-tracking and disturbance-rejection control are realized. The transient and steady-state performances are also guaranteed simultaneously. Then based on the Lyapunov stability theory, all states in the closed-loop system are uniformly and ultimately bounded, and the tracking errors converged to the prescribed area. Finally, the effectiveness of the algorithm is verified by simulation experiments.