Recursive-Biased-Generalized-Inverse Method for Thrust Allocation for Dynamic Positioning Vessels with Non-Rotatable Thrusters and Force Constraints

Abstract

This paper presents a novel method for thrust allocation for DP vessels with non-rotatable thrusters and force constraints. It uses a modified cost function of the thrust allocation problem for non-rotatable thruster and without force constraints, such that the force constraint can be handled. The proposed method runs in a recursive way to minimize the allocation error. The proposed method is different from the known methods in the literature. The completeness and continuity of the proposed algorithm are studied to verify the effectiveness of the proposed method.