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 (1991, 1994, 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. (2021). Mathematical Models of Ships and Underwater Vehicles. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, Cham. https://doi.org/10.1007/978-3-030-44184-5_121
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DOI: https://doi.org/10.1007/978-3-030-44184-5_121
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