4Johansen T A, Fossen T I, Berge S P. Constrained nonlinear control allocation with singularity, avoidance using sequential quadratic programming[ J]. IEEE Transactions on Control Systems Technology,2004, 12(1): 211 -216.
5Johansen T A, Fuglseth T P, Tondel P, et al. Optimal constrained control allocation in marine surface vessels with rudders[ A]. IFAC Conference on Manoeuvring and Control of Marine Craft [ C ]. http ://citeseer. ist. psu. edu/596411.html, 2003.
6Lindegaard K P, Fossen T I. Fuel-efficient rudder and propeller control allocation for marine craft: experiments with a model ship[ J ]. IEEE Transactions on Control Systems Technology, 2003, 11(6) : 850 -862.
7Sordalen O J. Optimal thrust allocation for marine vessels[ J ]. Control Engineering Practice, 1997, 5(9): 1223- 1231.
8Ola H. Backstepping and Control Allocation with Applications to Flight Control [ D ]. Linkoping, Sweden: Linkoping University,2003.
9Omerdic E, Roberts G N, Toal D. Extension of feasible region of control allocation for open-frame underwater vehicles [ A ]. IFAC Conference on Control Applications in Marine Systems[ C ]. http://rhw. staff. ul. ie/omerdic/My%20Papers/CAMS2004.pdf, 2004.
10Edin O, Geoff R. Thruster fault diagnosis and accommodation for open-frame underwater vehicles[ J ]. Control Engineering Practice,2004, 12(12): 1575-1598.