Stochastic Safety-critical Control Compensating Safety Probability for Marine Vessel Tracking

TL;DR

This paper develops a stochastic safety control method for marine vessels, using a linearized model and zeroing control barrier functions to ensure probabilistic safety amid disturbances.

Contribution

It introduces a stochastic safety compensator based on ZCBF for nonlinear marine vessel control, verified through numerical simulations.

Findings

The stochastic safety compensator effectively maintains safety probabilities.

Linearized control approach simplifies handling nonlinear vessel dynamics.

Numerical simulations demonstrate the method's robustness under disturbances.

Abstract

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.