In order to solve the practical problems of large output energy of the controller and difficult nonlinear parameter cancellation in the backstepping scheme, a linear reduction of the nonlinear controller is incorporated by omitting its nonlinear terms. Then, a nonlinear feedback driven sine function is introduced to replace its original linear feedback, which can reduce the control energy with the same or even better control effects through theoretical analysis. The simulation experiment is carried out by considering “Yulong” training ship as the plant. Simulation results show that the proposed nonlinear feedback Backstepping controller is with obvious advantages in respects of robustness and the control energy requirement.