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The paper presents two parametric control allocation systems for vessels equipped with two independent non-fully orientable thrusters. This particular class of vehicle includes a large number of marine small/medium size boats, and the capability to actuate independently those actuators will contribute effectively to manoeuvring problems in restricted areas, as harbour approaches and port movements. The proposed control-allocation methods are presented in the form of parametric sequential quadratic programming in case of presence of unbounded references (i.e. an upper-layer controller), and as a direct parametric mapping in case of norm - ∞ bounded references (i.e. through human interface devices). Simulation results and comparison with existing methods from the literature prove the effectiveness of the proposed methods. |
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