Safe Sliding Mode Control for Marine Vessels with HOCBFs and Fast Projection
Analysis
This paper addresses the critical challenge of safe and robust control for marine vessels, particularly in the presence of environmental disturbances. The integration of Sliding Mode Control (SMC) for robustness, High-Order Control Barrier Functions (HOCBFs) for safety constraints, and a fast projection method for computational efficiency is a significant contribution. The focus on over-actuated vessels and the demonstration of real-time suitability are particularly relevant for practical applications. The paper's emphasis on computational efficiency makes it suitable for resource-constrained platforms, which is a key advantage.
Key Takeaways
- •Proposes a safe control framework for marine vessels using SMC, HOCBFs, and fast projection.
- •Addresses the challenges of environmental disturbances and obstacle avoidance.
- •Focuses on computational efficiency for real-time embedded applications.
- •Demonstrates robust navigation and guaranteed obstacle avoidance in simulations.
“The SMC-HOCBF framework constitutes a strong candidate for safety-critical control for small marine robots and surface vessels with limited onboard computational resources.”