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：我们提出了一种结合动力学运动规划与漏斗控制（KDF）的算法，用于控制欠驱动无人水面艇。KDF由两个关键部分组成：基于运动学约束生成轨迹的运动规划，以及能够在不确知动力学和扰动下实现轨迹跟踪的漏斗控制（亦称预设性能控制）。我们扩展了预设性能控制方法，以应对无人艇存在的欠驱动特性和控制输入饱和挑战。所提方案在模型参数与外部扰动未知的情况下，能够保证用户自定义预设性能函数下的系统稳定性。此外，我们提出了一个优化问题以生成满足动力学约束的光滑无碰撞轨迹。该算法已在真实开放水域实验中部署于无人艇上，并验证了其有效性。