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On the continuity of control allocation for surface vessels with two azimuth thrusters
Mukwege, F.; Garone, E. (2023). On the continuity of control allocation for surface vessels with two azimuth thrusters. Ocean Eng. 287(Part 2): 115813. https://dx.doi.org/10.1016/j.oceaneng.2023.115813
In: Ocean Engineering. Pergamon: Elmsford. ISSN 0029-8018; e-ISSN 1873-5258, more
Peer reviewed article  
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Keyword
    Marine/Coastal
Author keywords
    Control allocation; Marine systems; Thrust allocation; Closed-form solution
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Abstract
    This paper presents two novel results concerning the control allocation problem (CAP) for marine crafts with 2 azimuth thrusters. The first result is a novel closed form solution for the CAP which ensures Lipschitz continuity of the azimuth angle. The second result is a convex optimization reformulation of the CAP for the case of limited rate of changes for the actuators orientation which includes a novel regularization term that avoids anomalous behaviors due to underactuation. The effectiveness of the two methods are showcased through numerical simulations.
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