Safe Sliding Mode Control for Marine Vessels Using High-Order Control Barrier Functions and Fast Projection
Fuente:
arXiv
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866908740687495168 |
|---|---|
| author | Syntakas, Spyridon Vlachos, Kostas |
| author_facet | Syntakas, Spyridon Vlachos, Kostas |
| contents | This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a lightweight projection for collision-free navigation of an over-actuated 3-DOF marine surface vessel subjected to strong environmental disturbances (wind, waves, and current). SMC provides robustness to matched disturbances common in marine operations, while HOCBFs enforce forward invariance of obstacle-avoidance constraints. A fast half-space projection method adjusts the SMC control only when needed, preserving robustness and minimizing chattering. The approach is evaluated on a nonlinear marine platform model that includes added mass, hydrodynamic damping, and full thruster allocation. Simulation results show robust navigation, guaranteed obstacle avoidance, and computational efficiency suitable for real-time embedded use. For small marine robots and surface vessels with limited onboard computational resources-where execution speed and computational efficiency are critical-the SMC-HOCBF framework constitutes a strong candidate for safety-critical control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_24281 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Safe Sliding Mode Control for Marine Vessels Using High-Order Control Barrier Functions and Fast Projection Syntakas, Spyridon Vlachos, Kostas Systems and Control Robotics Dynamical Systems This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a lightweight projection for collision-free navigation of an over-actuated 3-DOF marine surface vessel subjected to strong environmental disturbances (wind, waves, and current). SMC provides robustness to matched disturbances common in marine operations, while HOCBFs enforce forward invariance of obstacle-avoidance constraints. A fast half-space projection method adjusts the SMC control only when needed, preserving robustness and minimizing chattering. The approach is evaluated on a nonlinear marine platform model that includes added mass, hydrodynamic damping, and full thruster allocation. Simulation results show robust navigation, guaranteed obstacle avoidance, and computational efficiency suitable for real-time embedded use. For small marine robots and surface vessels with limited onboard computational resources-where execution speed and computational efficiency are critical-the SMC-HOCBF framework constitutes a strong candidate for safety-critical control. |
| title | Safe Sliding Mode Control for Marine Vessels Using High-Order Control Barrier Functions and Fast Projection |
| topic | Systems and Control Robotics Dynamical Systems |
| url | https://arxiv.org/abs/2512.24281 |