{"refrec":{"BRefID":382833,"RR":"<b>Mukwege, F.; Garone, E.</b> (2023). On the continuity of control allocation for surface vessels with two azimuth thrusters. <i>Ocean Eng. 287(Part 2)</i>: 115813. <a href=\"https://dx.doi.org/10.1016/j.oceaneng.2023.115813\" target=\"_blank\">https://dx.doi.org/10.1016/j.oceaneng.2023.115813</a>","BEntID":380575,"PublicFlag":1,"CheckedFlag":1,"wosflag":1,"vabbflag":0,"RefStringPartII":". <i>Ocean Eng. 287(Part 2)</i>: 115813. <a href=\"https://dx.doi.org/10.1016/j.oceaneng.2023.115813\" target=\"_blank\">https://dx.doi.org/10.1016/j.oceaneng.2023.115813</a>","DocTypID":8,"DocType":"Journal article","MarineFlag":1,"FreshFlag":0,"BrackishFlag":0,"TerrestrialFlag":0,"Authorstring":"Mukwege, F.; Garone, E.","OrigTitleTranslFlag":0,"Authorstringtrunc":"Mukwege, F.; Garone, E.","Englishabstract":"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. 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