A closed-form Lipschitz continuous control allocation mapping and convex optimization formulation are introduced for thrust-vectored rigid bodies, using nullspace structure for singularity avoidance.
Constrained Control Allocation for Vessels with Azimuth Thrusters.IF AC Proceedings V olumes, 45(27):7–12, January 2012
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General formulation of an analytic, Lipschitz continuous control allocation for thrust-vectored controlled rigid-bodies
A closed-form Lipschitz continuous control allocation mapping and convex optimization formulation are introduced for thrust-vectored rigid bodies, using nullspace structure for singularity avoidance.