Stochastic Safety-critical Control Compensating Safety Probability for Marine Vessel Tracking
This work addresses safety-critical control for marine vessels, an incremental improvement in domain-specific applications.
The study tackled the problem of marine vessel tracking under irregular disturbances by designing a stochastic safety compensator using a stochastic zeroing control barrier function, which was verified through numerical simulations to ensure probabilistic safety.
A marine vessel is a nonlinear system subject to irregular disturbances such as wind and waves, which cause tracking errors between the nominal and actual trajectories. In this study, a nonlinear vessel maneuvering model that includes a tracking controller is formulated and then controlled using a linear approximation around the nominal trajectory. The resulting stochastic linearized system is analyzed using a stochastic zeroing control barrier function (ZCBF). A stochastic safety compensator is designed to ensure probabilistic safety, and its effectiveness is verified through numerical simulations.