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, Department of Engineering Cybernetic, Norwegian University of Science and Technology, 1991; Guidance and control of ocean vehicles. Wiley, Chichester/New York, 1994; Handbook of marine craft hydrodynamics and motion control. Wiley, Chichester/Hoboken, 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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Recommended Reading
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FosseN, T. (2014). 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_121-2
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DOI: https://doi.org/10.1007/978-1-4471-5102-9_121-2
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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