Explicit solution using the singular value decomposition and filtering techniques

An alternative method to solve the constrained control allocation problem is to use the singular value decomposition (SVD) and a filtering scheme to control the azimuth directions such that they are aligned with the direction where most force is required, paying attention to singularities (S0rdalen 1997). Results from sea trials have been presented in S0rdalen (1997). A similar technique using the damped-least squares algorithm has been reported in Berge and Fossen (1997) where the results are documented by controlling a scale model of a supply vessel equipped with four azimuth thrusters.

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