Compensators for A Marine Vessel Keeping Tracking Errors Within the Designed Values Against White Noises

In this paper, we consider a control problem of keeping the tracking error of a marine vessel smaller than the designed value, even when disturbances are applied to the dynamics. To achieve the control objective, we employ the recently proposed safety-critical control theory based on control barrier functions for stochastic systems, and propose a control law to keep the tracking error within the acceptable region with probability one. The validity of the controller is confirmed by numerical simulations.