Marine Craft Hydrodynamics and Motion Control

 

Thor I. Fossen

Handbook of Marine Craft Hydrodynamics and Motion Control
2nd Edition, Wiley, April 2021.

Hardcover: ISBN 978-1-119-57505-4
E-book:      ISBN 978-1-119-57504-7

Errors in the manuscript: Errata

Matlab MSS Toolbox: http://github.com/cybergalactic/MSS

Python Vehicle Simulator: http://github.com/cybergalactic/PythonVehicleSimulator

Author web page: http://www.fossen.biz
Amazon author page: http://www.amazon.com/author/fossen

The textbook is used in the graduate course TTK4190 Guidance, Navigation and Control of Vehicles at the Norwegian University of Science and Technology (NTNU). Complementary slides can be downloaded below.


Chapters PDF slides Last modified
 
Part I: Marine Craft Hydrodynamics
1 - Introduction to part I: Marine craft hydrodynamics ch1 2021-07-29
2 - Kinematics ch2 2021-10-04
3 - Rigid-body kinetics ch3 2021-03-19
4 - Hydrostatics ch4 2021-03-28
5 - Seakeeping models ch5 2021-08-25
6 - Maneuvering models ch6 2021-05-04
7 - Autopilot models for course and heading control ch7 2021-10-04
8 - Models for underwater vehicles ch8 2021-10-04
9 - Control forces and moments ch9 2021-04-20
10 - Environmental forces and moments ch10 2021-05-20
 
Part II: Motion Control
11 - Introduction to Part II: Motion control ch11 2021-05-20
12 - Guidance systems ch12 2021-06-24
13 - Model-based navigation systems ch13 2021-06-24
14 - Inertial navigation systems ch14 2021-06-25
15 - Motion control systems ch15 2021-06-25
16 - Advanced motion control systems ch16 2021-06-28
 
Part III: Appendices
A1 - Nonlinear stability theory app1  
A2 - Numerical methods app2  
A3 - Model transformations app3  
A4 - Non-dimensional equations of motion app4  

Previous Edition

Fossen, T. I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control, 1st Edition. Wiley, April 2011.

Errata
Fossen 2011