Handbook of Marine Craft Hydrodynamics and Motion Control

Thor I. Fossen is a naval architect, cyberneticist, and Professor of Guidance, Navigation, and Control at the Norwegian University of Science and Technology. He received his MS in Naval Architecture and his PhD in Engineering and Cybernetics from the Norwegian Institute of Technology. Fossen was elected to the Norwegian Academy of Technological Sciences in 1998 and became an Institute of Electrical and Electronics Engineers (IEEE) Fellow in 2016.

Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL
 
The latest tools for analysis and design of advanced GNC systems
 
Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation.
 
This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include:
* Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs
* A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks
* New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments
* New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems
 
This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships.
 
MSS toolbox: https://github.com/cybergalactic/mss
 
Lecture notes: https://fossen.biz/wiley
 
Author's home page: https://fossen.biz

About the Author xvii
 
Preface xix
 
List of Tables xxiii
 
Part One Marine Craft Hydrodynamics
 
1 Introduction to Part I 3
 
Degrees of Freedom and Motion of a Marine Craft 5
 
1.1 Classification of Models 6
 
1.2 The Classical Models in Naval Architecture 8
 
1.2.1 Maneuvering Theory 10
 
1.2.2 Seakeeping Theory 12
 
1.2.3 Unified Theory 14
 
1.3 Fossen's Robot-inspired Model for Marine Craft 14
 
Component Form 14
 
Matrix-vector Representation 14
 
Component Form Versus the Matrix-vector Representation 15
 
2 Kinematics 17
 
2.1 Kinematic Preliminaries 18
 
2.1.1 Reference Frames 18
 
2.1.2 Body-fixed Reference Points 21
 
2.1.3 Generalized Coordinates 22
 
2.2 Transformations Between BODY and NED 23
 
2.2.1 Euler Angle Transformation 26
 
2.2.2 Unit Quaternions 32
 
2.2.3 Unit Quaternion from Euler Angles 38
 
2.2.4 Euler Angles from a Unit Quaternion 38
 
2.3 Transformations Between ECEF and NED 39
 
2.3.1 Longitude and Latitude Rotation Matrix 40
 
2.3.2 Longitude, Latitude and Height from ECEF Coordinates 41
 
2.3.3 ECEF Coordinates from Longitude, Latitude and Height 44
 
2.4 Transformations between ECEF and Flat-Earth Coordinates 45
 
2.4.1 Longitude, Latitude and Height from Flat-Earth Coordinates 45
 
2.4.2 Flat-Earth Coordinates from Longitude, Latitude and Height 46
 
2.5 Transformations Between BODY and FLOW 47
 
2.5.1 Definitions of Heading, Course and Crab Angles 47
 
2.5.2 Definitions of Angle of Attack and Sideslip Angle 49
 
2.5.3 Flow-axes Rotation Matrix 51
 
3 Rigid-body Kinetics 55
 
3.1 Newton-Euler Equations of Motion about the CG 56
 
Euler's First and Second Axioms 56
 
3.1.1 Translational Motion About the CG 58
 
3.1.2 Rotational Motion About the CG 59
 
3.1.3 Equations of motion About the CG 60
 
3.2 Newton-Euler Equations of Motion About the CO 60
 
3.2.1 Translational Motion About the CO 61
 
3.2.2 Rotational Motion About the CO 61
 
3.3 Rigid-body Equations of Motion 63
 
3.3.1 Nonlinear 6-DOF Rigid-body Equations of Motion 63
 
3.3.2 Linearized 6-DOF Rigid-body Equations of Motion 69
 
4 Hydrostatics 71
 
4.1 Restoring Forces for Underwater Vehicles 71
 
4.1.1 Hydrostatics of Submerged Vehicles 71
 
4.2 Restoring Forces for Surface Vessels 74
 
4.2.1 Hydrostatics of Floating Vessels 74
 
4.2.2 Linear (Small Angle) Theory for Boxed-shaped Vessels 77
 
4.2.3 Computation of Metacenter Heights for Surface Vessels 79
 
4.3 Load Conditions and Natural Periods 82
 
4.3.1 Decoupled Computation of Natural Periods 82
 
4.3.2 Computation of Natural Periods in a 6-DOF Coupled System 84
 
4.3.3 Natural Periods as a Function of Load Condition 87
 
4.3.4 Free-surface Effects 89
 
4.3.5 Payload Effects 90
 
4.4 Seakeeping Analysis 90
 
4.4.1 Harmonic Oscillator with Sinusoidal Forcing 90
 
4.4.2 Steady-state Heave, Roll and Pitch Responses in Regular Waves 92
 
4.4.3 Explicit Formulae for Boxed-shaped Vessels in Regular Waves 94
 
4.4.4 Case Study: Resonances in the Heave, Roll and Pitch Modes 96
 
4.5 Ballast Systems 97
 
4.5.1 Static Conditions for Trim and Heel 99
 
4.5.2 Automatic Ballast Control Systems 102
 
5 Seakeeping Models 105
 
5.1 Hydrodynamic Concepts and Potential Theory 106
 
5.1.1 Numerical Approaches and Hydrodynamic Codes