Shading mitigation for photovoltaic arrays

A solar energy system, comprising:

• a. a plurality of photovoltaic (PV) modules;
• b. one or more motor assemblies;
• and
• c. a control system configured to control the one or motor assemblies to pivot the plurality of PV modules through respective pivot volumes, wherein:
• i. during an unshaded period characterized by an absence of fixed-structure shading impinging on the respective pivot volumes, the pivoting includes periodically reorienting the plurality of PV modules to minimize an angular-dependent loss in power output for each respective successive sun angle, and
• ii. during a shade period characterized by non-zero partial shading by the one or more fixed structures impinging on one or more of the respective pivot volumes, the pivoting includes orienting the plurality of PV modules to reduce a loss in power output due to shading by a fixed structure,
• wherein the orienting during the shade period minimizes a loss in power output due to a combination of the angular-dependent loss and the loss due to shading.