Safe Sliding Mode Control for Marine Vessels with HOCBFs and Fast Projection
Analysis
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.”