Adaptive Zone Barrier Lyapunov for USV Motion Constraint With Uncertain Control Gain

Uncertainty in vessel control direction poses significant challenges in maritime operations, particularly in dynamic positioning, towing, and offshore wind farm maintenance. Traditional control methods struggle to handle uncertainties in system states for maritime operations, unmodeled dynamics, and multibody interactions. This study introduces an adaptive zone barrier Lyapunov control approach to address these challenges by ensuring vessel stability within a predefined operational zone while allowing adaptive parameter adjustments to compensate for uncertainties. The zone barrier Lyapunov function is employed to enforce safe operational constraints, preventing excessive deviations, while an adaptive control law dynamically estimates and adjusts system parameters. The proposed approach is validated through simulations of unmanned surface vehicle station-keeping and trajectory tracking. Results demonstrate that adaptive zone barrier Lyapunov control maintains vessel stability and maneuverability even when control direction is uncertain, outperforming conventional Lyapunov-based methods in handling constraint and robust effects. This study highlights the effectiveness of integrating zone barrier Lyapunov control with adaptive mechanisms for vessel motion control, offering a robust framework for enhancing maritime safety and operational efficiency in offshore environments.