Parametric Control Allocation for Vessels Equipped with Two Non-Fully Rotable Thrusters

The paper presents two parametric control allocation systems for vessels equipped with two independent non-fully orientable thrusters. The proposed control-allocation methods are presented under the form of parametric sequential quadratic programming, in case of presence of unbounded references or in a direct parametric mapping, in case of norm-∞ bounded references (i.e. through human interface devices). Simulation results and comparison with previously presented algorithm prove the effectiveness of the proposed methods.