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On the continuity of control allocation for surface vessels with two azimuth thrusters

par Mukwege, Frank ;Garone, Emanuele
Référence Ocean engineering, 287, 115813
Publication Publié, 2023-11-01

Article révisé par les pairs

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Résumé :

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.