On the continuity of control allocation for surface vessels with two azimuth thrusters.

This paper presents two novel results concerning the control allocation problem (CAP) for marine crafts with 2 azimuth thrusters. The first result is a novel closed form solution for the CAP which ensures Lipschitz continuity of the azimuth angle. The second result is a convex optimization reformulation of the CAP for the case of limited rate of changes for the actuators orientation which includes a novel regularization term that avoids anomalous behaviors due to underactuation. The effectiveness of the two methods are showcased through numerical simulations. • Novel closed-form solution enhances marine craft control with 2 azimuth thrusters. • Convex reformulation manages actuator rate of change, preventing anomalous behavior. • Simulations validate closed-form solution and convex optimization [ABSTRACT FROM AUTHOR]