“…Intelligent ships, such as replenishment ships, semisubmersible drilling rig, and other special ships, require high precision and good safety operation and usually have multiple thrusters (Liu and Xiao, 2021). However, the hydrodynamic interaction of a thruster in the propulsion process will affect the control of the ship (Yao and Dong, 2016). Apart from this, in the complex marine environment, the propulsion load fluctuates sharply, which makes the power allocation of each thruster unbalanced (Gao et al, 2019).…”