• Cartesian thrust allocation algorithm with variable direction thrusters, turn rate limits and singularity avoidance 

      Veksler, Aleksander Vladimirovitsj; Johansen, Tor Arne; Borrelli, Francesco; Realfsen, Bjørnar (Proceedings of the IEEE Conference on Control Applications;2014, Conference object, 2014)
      The literature on thrust allocation algorithms that is currently available usually focuses on solving only a few of the many facets of the thrust allocation problem at a time. This paper presents a unified thrust allocation ...
    • Dynamic positioning with model predictive control 

      Veksler, Aleksander Vladimirovitsj; Johansen, Tor Arne; Borrelli, Francesco; Realfsen, Bjørnar (Journal article; Peer reviewed, 2016)
      Marine vessels with dynamic positioning (DP) capability are typically equipped with sufficient number of thrusters to make them overactuated and with satellite navigation and other sensors to determine their position, ...