Abstract
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 (Nonlinear Modelling and Control of Underwater Vehicles. PhD Thesis, Dept. of Eng. Cybernetics, Norwegian Univ. of Sci. and Techn, 1991; 1994, Guidance and control of ocean vehicles. Wiley, Chichester; 2011). 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.
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Fossen, T.I. (2013). Mathematical Models of Ships and Underwater Vehicles. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_121-1
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DOI: https://doi.org/10.1007/978-1-4471-5102-9_121-1
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Online ISBN: 978-1-4471-5102-9
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Latest
Mathematical Models of Ships and Underwater Vehicles- Published:
- 04 April 2014
DOI: https://doi.org/10.1007/978-1-4471-5102-9_121-2
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Original
Mathematical Models of Ships and Underwater Vehicles- Published:
- 16 October 2013
DOI: https://doi.org/10.1007/978-1-4471-5102-9_121-1