Optimal thrust allocation based GA for dynamic positioning ship

Thrust allocation is an important part of the dynamic positioning system, which determining the thrust and the direction of each of the thruster devices from the control law. This paper proposes a rational and effective method of solving thrust allocation to the semi-submersible rig based on the adaptive genetic algorithm. It is realizing the global parallel operations, achieving search in a large area, and convergence speed better then simple genetic algorithm. The validity and excellent performance of this algorithm was proved by the simulation results.