Encyclopedia of Systems and Control

2015 Edition
| Editors: John Baillieul, Tariq Samad

Mathematical Models of Ships and Underwater Vehicles

  • Thor I. Fossen
Reference work entry
DOI: https://doi.org/10.1007/978-1-4471-5058-9_121


This entry describes the equations of motion of ships and underwater vehicles. Standard hydrodynamic models in the literature are reviewed and presented using the nonlinear robot-like vectorial notation of Fossen (199119942011). The matrix-vector notation is highly advantageous when designing control systems since well-known system properties such as symmetry, skew-symmetry, and positiveness can be exploited in the design.


Autonomous underwater vehicle (AUV) Degrees of freedom Euler angles Hydrodynamics Kinematics Kinetics Maneuvering Remotely operated vehicle (ROV) Seakeeping Ship Underwater vehicles 
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Copyright information

© Springer-Verlag London 2015

Authors and Affiliations

  • Thor I. Fossen
    • 1
  1. 1.Department of Engineering CyberenticsCentre for Autonomous Marine Operations and Systems, Norwegian University of Science and TechnologyTrondheimNorway