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The combination of approximation-based adaptive technique and radial basis function (RBF) neural network allows us to handle the unknown disturbances from the environment and uncertain ship dynamics. By employing the adaptive filtering backstepping, the full-state feedback controller is first derived. Then the output feedback controller is designed with the unmeasurable state estimated by using a high-gain observer. In order to cope with the input constraints, an auxiliary system is introduced to the output feedback controller, and the semiglobal uniform boundedness of the modified control solution is verified. 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