We develop an algorithm to control an underactuated unmanned surface vehicle (USV) using kinodynamic motion planning with funnel control (KDF). KDF has two key components: motion planning used to generate trajectories with respect to kinodynamic constraints, and funnel control, also referred to as prescribed performance control, which enables trajectory tracking in the presence of uncertain dynamics and disturbances. We extend prescribed performance control to address the challenges posed by underactuation and control-input saturation present on the USV. The proposed scheme guarantees stability under user-defined prescribed performance functions where model parameters and exogenous disturbances are unknown. Furthermore, we present an optimization problem to obtain smooth, collision-free trajectories while respecting kinodynamic constraints. We deploy the algorithm on a USV and verify its efficiency in real-world open-water experiments.

翻译：我们开发了一种算法，通过结合漏斗控制的动力学运动规划（KDF）来控制欠驱动无人水面艇（USV）。KDF包含两个关键组成部分：用于生成满足动力学约束轨迹的运动规划方法，以及漏斗控制（也称为预定性能控制），该控制能够在存在不确定动力学和干扰的情况下实现轨迹追踪。我们将预定性能控制进行扩展，以应对USV中欠驱动和控制输入饱和带来的挑战。所提出的方案能够在模型参数和外部扰动未知的情况下，基于用户定义的预定性能函数保证系统稳定性。此外，我们提出了一个优化问题，用于在满足动力学约束的同时获得平滑且无碰撞的轨迹。我们在USV上部署该算法，并通过实际开放水域实验验证其有效性。