Abstract: This paper presents a novel control allocation algorithm, which is based on optimization theory, for the dynamic positioning (DP) of moored caissons. The algorithm is agnostic to both the number and configuration of mooring lines, employing winches along these lines as actuators. To validate the proposed algorithm in conjunction with a DP controller, a series of reduced-scale physical experiments are conducted at the IHCantabria facilities. The experiments replicate the complete caisson installation manoeuvre under various wave conditions. This process involves dynamically positioning the caisson from an initial location to a target position (adjacent to a previously installed caisson on the rock berm), followed by a controlled sinking phase until final touchdown. The results of the experimental campaign confirm the effectiveness of the proposed control allocation algorithm while also highlighting its operational limitations.

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