Output-Feedback Finite-Time Safety-Critical Coordinated Control of Path-Guided Marine Surface Vehicles Based on Neurodynamic Optimization

This research addresses the challenge of coordinating multiple under-actuated marine surface vehicles (MSVs) under velocity and input constraints, especially when environmental disturbances and velocity data are unavailable. The paper proposes an output-feedback finite-time safety-critical coordinated control framework. To recover unmeasured velocities and estimate environmental disturbances, a robust exact differentiator-based finite-time state observer (FTSO) is developed. At the kinematic level, a nominal finite-time guidance law establishes distributed formation control. To ensure collision avoidance against static and moving obstacles, finite-time control barrier functions (FTCBFs) define safe velocity sets. These safety requirements and velocity constraints are formulated as quadratic optimization problems, solved in real-time using one-layer recurrent neural networks (RNNs). Finally, a nominal

finite-time control law is designed at the kinetic level to handle input constraints. For B.Tech students, this framework provides a structured methodology for simulating multi-vessel coordination. Implementation support focuses on modeling the under-actuated dynamics, configuring the FTSO, and structuring the RNN-based optimization in simulation environments. This guidance helps students understand the integration of safety barrier functions with neurodynamic optimization for marine safety systems.

Message: Hi FE, I need help with “Output-Feedback Finite-Time Safety-Critical Coordinated Control of Path-Guided Marine Surface Vehicles Based on Neurodynamic Optimization” in “Marine Engineering”