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September 15, 2023 12:15
September 15, 2023 12:17

Handbook of Marine Craft Hydrodynamics and Motion Control

The "Handbook of Marine Craft Hydrodynamics and Motion Control" offers a comprehensive exploration of cutting-edge developments in the fields of marine craft hydrodynamics and guidance, navigation, and control (GNC) systems. The text establishes how mathematical models and modern control theory can be implemented to simulate and verify control systems.


ISBN: 978-1-119-57505-4

Thor I. Fossen

John Wiley & Sons Ltd., 2nd Edition, April 2021

Lecture Material

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

Chapters PDF Slides Last Modified
Part 1: Marine Craft Hydrodynamics
1 Introduction to Part I Ch1.pdf 2023-08-08
2 Kinematics Ch2.pdf 2023-08-09
3 Rigid-Body Kinetics Ch3.pdf 2023-08-09
4 Hydrostatics Ch4.pdf 2023-08-01
5 Seakeeping Models Ch5.pdf 2023-08-10
6 Maneuvering Models Ch6.pdf 2023-08-10
7 Autopilot Models for Course and Heading Control Ch7.pdf 2023-08-10
8 Models for Underwater Vehicles Ch8.pdf 2023-08-15
9 Control Forces and Moments Ch9.pdf 2023-03-29
10 Environmental Forces and Moments Ch10.pdf 2022-06-18
Part 2: Motion Control Systems
11 Introduction to Part II Ch11.pdf 2021-05-20
12 Guidance Systems Ch12.pdf 2021-06-24
13 Model-Based Navigation Systems Ch13.pdf 2022-11-04
14 Inertial Navigation Systems Ch14.pdf 2023-08-01
15 Motion Control Systems Ch15.pdf 2023-09-02
16 Advanced Motion Control Systems Ch16.pdf 2021-06-25
Part III: Appendices
A Nonlinear Stability Theory
B Numerical Methods
C Model Transformations
D Non-dimensional Equations of Motion

MSS (Marine Systems Simulator)

The Marine Systems Simulator (MSS) is a complementary Matlab and Simulink library for the simulation of marine systems. It includes models for ships, autonomous underwater vehicles (AUVs), unmanned surface vehicles (USVs), and floating structures. The library also contains guidance, navigation, and control (GNC) systems for real-time simulation.

Python Vehicle Simulator

The Python Vehicle Simulator supplements the Matlab MSS (Marine Systems Simulator) toolbox. It includes models for autonomous underwater vehicles (AUVs), unmanned surface vehicles (USVs), and ships. The vehicle models are based on the MSS vessel models in the /MSS/VESSELS/catalog. Each vehicle is modeled as an object in Python, and the vehicle class has methods for guidance, navigation, and control. The main program is used to define vehicle objects for real-time simulation.


Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in marine craft hydrodynamics, guidance, navigation, and control (GNC) systems.