Constrained control allocation using Cascading Generalized Inverse for dynamic positioning of ships

Control allocation is an important part of the dynamic positioning system, which determines the control inputs of each thruster device from the control law. Based on the Cascading Generalized Inverse algorithm, a simple and efficient control allocation scheme was proposed to improve the ability for keeping position of dynamic positioning ships. This method improved the performance of a single generalized inverse by using multiple generalized inverses, and solved the actuators saturation problem in constrained control allocation. Applying the method, an explicit solution was obtained, and achieved a greater capacity and efficiency in the implementation process. The validity and excellent performance of this algorithm was proved by the simulation results.