This paper reviews the international and domestic research on the control allocation algorithms in the ship dynamic positioning technology. The distribution models can be divided into linear and nonlinear control allocation methods according to their characteristics. The linear allocation algorithms consist of linear equation group, pseudo-inverse method, constrained linear optimization method and linear quadratic programming method with the minimal error. The nonlinear control allocation algorithms include sequential quadratic programming, dynamic search method and intelligent allocation algorithms. It briefly introduces the advantages and disadvantages of the above methods, carries out their comparison, and ifnally summarizes several key problems of the ship control allocation.%介绍了目前国内外关于船舶动力定位技术中，控制分配算法研究的进展情况。根据分配模型的特点，分为线性控制分配和非线性控制分配两大类。其中线性分配算法包括解线性方程组、伪逆法、约束线性优化法和误差最优的线性二次规划法，非线性分配算法包括序列二次规划法、动态寻优法和智能分配算法。文中简要介绍和分析以上各种方法的优缺点并进行比较，最后对船舶控制分配的一些关键性问题进行总结。
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