Thor I. FossenHandbook of Marine Craft Hydrodynamics and Motion Control 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
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 | 2021-03-19 |
2 - Kinematics | ch2 | 2021-03-19 |
3 - Rigid-body kinetics | ch3 | 2021-03-19 |
4 - Hydrostatics | ch4 | 2021-03-28 |
5 - Seakeeping models | ch5 | 2021-03-28 |
6 - Maneuvering models | ch6 | 2021-05-04 |
7 - Autopilot models for course and heading control | ch7 | 2021-04-16 |
8 - Models for underwater vehicles | ch8 | 2021-05-28 |
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 |