Encyclopedia of Systems and Control

Living Edition
| Editors: John Baillieul, Tariq Samad

Mathematical Models of Ships and Underwater Vehicles

  • Thor I.  FosseNEmail author
Living reference work entry

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DOI: https://doi.org/10.1007/978-1-4471-5102-9_121-2

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.

Keywords

Kinematics Kinetics Degrees of freedom Euler angles Ship Underwater vehicles AUV ROV Hydrodynamics Seakeeping Maneuvering 
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Copyright information

© Springer-Verlag London 2014

Authors and Affiliations

  1. 1.Department of Engineering Cyberentics, Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and TechnologyTrondheimNorway