Thrust Allocation Method for Dual Waterjet Propelled Unmanned Surface Vehicles Based on Hierarchical Optimization
LU Zhan, WANG Jian, MA Qingyan, XU Changjian, LIANG Xiaofeng
Journal of Shanghai Jiao Tong University . 2026, (3): 427 -439 .  DOI: 10.16183/j.cnki.jsjtu.2024.250