  This paper presents a safety guaranteed control method for an autonomous
vehicle ski-stunt maneuver, that is, a vehicle moving with two one-side wheels.
To capture the vehicle dynamics precisely, a Gaussian process model is used as
additional correction to the nominal model that is obtained from physical
principles. We construct a probabilistic control barrier function (CBF) to
guarantee the planar motion safety. The CBF and the balance equilibrium
manifold are enforced as the constraints into a safety critical control form.
Under the proposed control method, the vehicle avoids the obstacle collision
and safely maintain the balance for autonomous ski-stunt maneuvers. We conduct
numerical simulation validation to demonstrate the control design. Preliminary
experiment results are also presented to confirm the learning-based motion
control using a scaled RC truck for autonomous ski-stunt maneuvers.
