Conclusion

A survey of methods for control allocation of overactuated marine vessels has been presented. Both implicit and explicit methods formulated as optimization problems have been discussed. The objective has been to minimize the use of control effort (or power) subject to actuator rate and position constraints, power constraints as well as other operational constraints.

A case study of an AUV with control surfaces has been included in order to show how quadratic programming can be used to solve the control allocation problem.

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