{"ID":2824043,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.24281","arxiv_id":"2512.24281","title":"Safe Sliding Mode Control for Marine Vessels Using High-Order Control Barrier Functions and Fast Projection","abstract":"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.","short_abstract":"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 dist...","url_abs":"https://arxiv.org/abs/2512.24281","url_pdf":"https://arxiv.org/pdf/2512.24281v1","authors":"[\"Spyridon Syntakas\",\"Kostas Vlachos\"]","published":"2025-12-30T15:10:37Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.RO\",\"math.DS\"]","methods":"[]","has_code":false}