为海上船舶设计了一种安全高效控制框架，抗干扰强且实时性好。
Safe Sliding Mode Control for Marine Vessels Using High-Order Control Barrier Functions and Fast Projection
- 结合滑模控制与高阶屏障函数，动态适应环境扰动
- 仿真验证障碍规避有效，计算开销小适合嵌入式部署
- 特别适合计算资源有限的小型无人船安全控制
本文提出一种新型安全控制框架，融合滑模控制（SMC）、具有状态依赖自适应性的高阶控制屏障函数（HOCBFs）及轻量级投影方法，用于受强环境扰动（风、浪、流）影响的过驱动3-自由度海面船舶的无碰撞导航。SMC提供对匹配扰动的鲁棒性，而HOCBFs确保障碍规避约束的前向不变性。快速半空间投影方法仅在必要时调整SMC控制，保持鲁棒性的同时最小化抖振。该方法在包含附加质量、水动力阻尼和完整推进器分配的非线性海洋平台模型上进行评估。仿真结果表明，系统具备鲁棒导航能力、保障障碍规避，并具有适合实时嵌入式应用的计算效率。对于小型海洋机器人及计算资源受限的水面船舶，该SMC-HOCBF框架是安全关键控制的有力候选方案。
原文摘要 · Abstract (English)
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.
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