Study on thrust allocation based on IAFSA for dynamic positioning system

Thrust allocation is a necessary part of the dynamic positioning system, which sends control signals to the individual thruster. In this paper, an effective method based on Improved Artificial Fish Swarm Algorithm is proposed to solve thrust allocation aiming at minimizing the power consumption, avoiding forbidden angles and restricting rate of thruster azimuth angle. The proposed method makes some significant improvements on traditional Artificial Fish Swarm Algorithm. And the efficient and satisfactory performance of this algorithm is proved by the results of simulation.