Kinematics and Kinetics of

Marine Vessels
(Module 3)

Dr Tristan Perez Prof. Thor I Fossen

Centre for Complex Dynamic Department of Engineering
Systems and Control (CDSC) Cybernetics

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Kinematics

Description of geometrical aspects of

motion without regard to the forces
that create the motion.

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Kinematics
The objectives of kinematics are

„ Define a set of reference frames from which the

motion will be described.

„ Define sets of coordinate systems on the reference

frames, which will be use to express in quantitative
way the motion variables.

„ Determine relations between acceleration, velocity

and position of each point in the system under
study.

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Reference frames
„ A reference frame is perspective from which the
motion is described.

„ Let C be a collection of at least 3 noncolinear points

in the Euclidean space. Then C is a reference frame
if the distance between every pair of points does not
vary with time.

„ Then, any rigid body is a reference frame, and any

planar rigid object is a reference frame. A point in
the space is not a reference frame.

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Coordinate systems
„ Coordinate systems are fixed
to reference frames to express
the motion variables. r
a3
„ A coordinate system consists r
of a O point fixed in the a1
reference frame and a dextral o
orthonormal basis, which r
provides a way to resolve a a2
vector in the space. Reference frame

„ When there is only one

coordinate system attached to
a reference frame, it is Coordinate system:
common not to make a r r r
distinction between reference {a} ≡ (o, a1 , a2 , a3 )
frame and coordinate system.

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Vector notation

„ Variables associated with motion are described by

directed line segments or vectors:
r
Measure along a1

r
Components of u in {a}

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Vector notation
„ The vectors defined as directed line segments (coordinate
free representation) belong a to a three-dimensional space:

„ This space and the Euclidian space are isomorphic (can be

put into a one-to-one correspondence that preserves the their
structure)

„ Exploiting this, it is convenient to consider the coordinate

vector representation in a given coordinate system:

Coordinate vectors are always given relative to a basis (coordinate system)

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Vector notation
⇔

It is convenient to be familiar with both representations. The

coordinate form is convenient for computation and matrix
representations. The coordinate-free form allows extending
scalar to vector calculus.

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Dot and Cross products
Dot product:

Cross product:

Skew-symmetric form of a coordinate vector:

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Rotation Matrices

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Euler Angles

„ The attitude of one coordinate system relative

to another can be described by three
consecutive rotations.

„ There are 12 ways of doing this depending

on the order of the rotations, and each triplet
of rotated angles is called a set of Euler
Angles

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Roll, Pitch and Yaw
The roll, pitch and yaw is set of Euler angles commonly use in
guidance and navigation.

Vector of Roll, Pitch

and Yaw that
take {a} into the
orientation of
{b}:

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Rotation matrix in terms of RPY

After multiplication:

Note that the multiplication is consistent with the

transformation
Transforms a vector from the
base b to the base a.

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Angular velocity
Since the rotation matrix is orthogonal, then

This imply that is skew symmetric, and hence be

represented by a single coordinate vector (Egeland and Gravdahl, 2002):

This is the angular velocity of {b} with respect to {a}, expressed in {a}

The derivative of the rotation matrix can then be expressed as

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Angular velocity and deriv of RPY
Consider a rotation from {a} to {d} via RPY:

The angular velocities are

Then from the theorem of

addition of angular velocities we
have

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Angular velocity and deriv of RPY
From

using,

we obtain

The angular velocity and the derivative of the Euler angles are, in general,
different things.

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Position
Position of “p” with respect to {a}, and expressed in {a}:

Coordinate system where the

vector is expressed

Point of interest
Position of “p” with
Reference coordinate system
respect to {a}, and
expressed in {b}.

Note that a change in coord

sys does not change the
position vector; it is still p in
{a}.

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Velocity
„ The relative position of any two points is invariant in any coordinate
system (||r1-r2|| is independent of the coordinate system used to
express r1 and r2).

„ The velocity, however, depends on the coordinate system adopted.

p ω
{b} and “p” rotate
with angular
velocity ω.

{a} {b}

The velocity of “p” wrt {b} is zero, but not wrt {a}.

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Derivative of a vector
The derivative of a vector makes no sense without
specifying the coordinate system with respect of
which the derivative is taken:

In general

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Transport Theorem

In coordinate form

We need to use double

If we multiply both sides by
script so we don’t have this
problem in notation:

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Velocity and Acceleration
If {i} denotes an inertial coordinate system, then

The first subscript Indicates the coordinate

system with respect of which the derivative is
taken

Angular acceleration
Linear acceleration:

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Motion in different coord systems

Not inertial

inertial

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Motion in different coord systems

⇔
Transport
Theorem

In coordinate form

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Motion in different coord systems

Taking a derivative again:

With the adopted notation

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Ship kinematics

Ship kinematics is different depending on the

assumptions made to describe the motion:

„ Manoeuvring
„ Seakeeping

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Ship Motion description
To describe the ship motion the following
coordinate systems are used:

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Manoeuvring Kinematics
„ In manoeuvring, the position of the vessel is given by the position
of of {b}-body-fixed coordinate system with respect to {n}-North-
East-Down coordinate system.

„ The attitude is given by the angles of roll, pitch and yaw that take
{n} into the orientation of {b}.

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Vessel linear velocities
The velocities are more conveniently expressed in {b}-
body-fixed coordinate system:

surge sway heave

Note that the following
integral has no physical
meaning:

Ship trajectory:

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Vessel angular velocities
The angular velocity expressed in {b}-body-
fixed coordinate system is

roll pitch yaw

Note that the following integral has no physical

meaning:

Which is the relationship

we have already shown
The ship orientation is between the ang vel and
obtained integrating the derivative of the
Euler angles.

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Generalised position and velocity
„ We define the coordinate position-orientation
vector (Fossen, 1994):

„ We define the coordinate linear-angular

velocity vector (Fossen, 1994):

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Kinematic model {n}-{b}
Then,

Note that

Because is not orthogonal.

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Summary manoeuvring coordinates
Perez, T. and T.I. Fossen (2007)

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Seakeeping kinematics
„ In seakeeping, the motion is described from a reference frame which
represents the equilibrium position and orientation of the vessel.

„ Then the action of the waves makes the vessel oscillate with respect to
this equilibrium

Definition of equilibrium
reference frame:

Vessel average forward speed.

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Seakeeping coordinates
In a similar fashion as we did in manoeuvring, we can define the
perturbation body-fixed linear and angular velocities

Perturbation roll, pitch and

yaw:

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Seakeeping coordinates
Further, we can define the
perturbation position an
velocity vector:

In the hydrodynamic literature, the following variables

are used:
The kinematics transformation is
simplified under the assumptions of

ξ& = δν ≈ δη&
very small angles

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Summary seakeeping coordinates
Perez, T. and T.I. Fossen (2007)

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Kinetics

Description of forces and the motion

they cause on bodies using
postulated laws of physics.

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Forces and moments
„ A force acting on a rigid body has a line of action which
passes through the point of application.

„ This means that the force produces a moment about a

point.

r
r f
r v
mb / P = rPP ' × f
r
rPP ' P' any point on the
line of action
P
Line of action

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Forces and moments
„ A resultant force due to a set S of forces
acting on a rigid body is
r r
f RES = ∑ f j
j
The resultant does not have a line of action.

„ A resultant moment due to a set S of forces

acting on a rigid body is
r r r
mS / P = ∑ rPj × f j
j

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Moment about another point
The moment about a point Q can be found

r r r r r r
mS / Q = ∑ rQj × f j = ∑ (rPj + rQP ) × f j
j j
r
r r r r fj
= ∑ rPj × f j + rQP × ∑ f j
r
j
r r
j
r
= mS / P + rQP × f RES rPj
P
r
The resultant can be Q rQj
regarded as a
force with line of
action through P

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Transformation
„ Using the previous results we have that in
body-fixed coordinates
⎡ fQb ⎤ ⎡ f Pb ⎤ ⎡ I 3×3 03×3 ⎤ ⎡ f Pb ⎤
⎢ b⎥=⎢ b b b⎥
=⎢ b ⎥⎢ b⎥
⎢⎣m Q ⎥⎦ ⎢⎣S(rQP ) f P + m P ⎥⎦ ⎣144
S (rQP ) I
244
3×3 ⎦ ⎣m P ⎦
3
HT ( rQP
b
)
If we choose Q = Ob,
then

⎡ fbb ⎤ ⎡ f Pb ⎤ ⎡ I 3×3 03×3 ⎤ ⎡ f Pb ⎤

⎢ b⎥ = ⎢ b b b⎥
=⎢ b ⎥⎢ b⎥
⎣m b ⎦ ⎣S(rbP ) f P + m P ⎦ 1S
⎣ 44
(rbP ) I
2434×3 ⎦ ⎣m P ⎦
3
HT ( rbP
b
)

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Rigid-body mass and inertia matrix
The generalised mass matrix with inertia moments and products
taken about the origin of {b} is

Inertia matrix taken about the origin {b} can be expressed by the
one taken about CG (Parallel axis theorem):

The notation “b/” means

about; e.g. b/g means
about CG

The parallel axis theorem can only be use between CG and another point. So if we want
to convert between two arbitrary points we have to do it in two steps.

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Angular momentum
The angular momentum about CG in B is given by

If this is expressed in the inertial coordinate system {i},

This shows that inertia matrix is not constant in an

inertial frame {i} if {b} rotates wrt {i}. Hence, it is
convenient to express the equations of motion in a
body-fixed coordinate system.

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Euler’s Axioms
„ Euler’s 1st axiom states that:

-is the velocity of CG relative to {i} and expressed in {i}

-is the vector of resultant forces.

„ Euler’s 2nd axiom states that:

Angular momentum about CG Resultant moment about CG

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Rigid-body Equations of motion
Expressing the velocities in the body-fixed coordinate
system—located at an arbitrary point in the body, the
Euler axioms become

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Ship RB eq of motion
Following the notation of Fossen (2002):

Generalised positions

Generalised velocities

⎡ f b
⎤
τ := ⎢ b ⎥ = [ X , Y , Z , K , M , N ]
b T
Generalised forces
⎣m b ⎦

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Coriolis and Centripetal terms
The Coriolis-centripetal terms can be expressed as

where
Å Separated into linear and anglular

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RB Equations of motion in 6DOF
In coordinate form:

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Changing the body-fixed system
In different applications it is necessary to consider different locations
for a body-fixed coordinate system.

Hence we may want to transform the equations of motion from {b} to

{p}

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Changing the body-fixed coordinates
This can be done by direct application of the transformations
we have already derived:

⎡ v ipp ⎤ ⎡ I 3×3 ST (rbpb )⎤ ⎡ v bib ⎤ ⎡ fbb ⎤ ⎡ I 3×3 03×3 ⎤ ⎡ f Pb ⎤

⎢ p⎥=⎢ ⎥⎢ b ⎥ ⎢ b⎥ = ⎢ b ⎥⎢ b⎥
ω
⎢⎣ ip ⎥⎦ ⎣103×3 I 3×3 ⎦ ⎣ωib ⎦ m
⎣ b⎦ 1 S
⎣ 44
(r ) I 3×3 ⎦ ⎣m P ⎦
4424 43
bP
244 3
b
H ( rbp ) HT ( rbP
b
)
Hence,

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Seakeeping RB equations of motion
In Seakeeping, the equations of motion are
considered within an linear framework.

In the literature, it is said that the motion is

described from the equilibrium reference frame
and formulated at the origin of {s}—seakeeping
coordinate system.

This would imply that the inertia matrix is time

varying as we have seen in the previous slide,
but this is not the case.

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Seakeeping RB equations of motion
The seakeeping RB eq. can be obtained by considering the
equations of motion in body-fixed coordinates and considering
only linear terms:

Perturbation Eq in
⇒ Perturbation within
body-fixed coord. Linear framework

Seakeeping RB Eq.
of motion:

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References
„ Egeland, O. and J.T. Gravdahl (2002) Modelling and Simulation for
Automatic Control. Marine Cybernetics.

„ Kane, T.R., and D.A., Levinson (1985) Dynamics: Theory and Applications.
McGraw Hill series in Mech Eng.

„ Fossen, T.I. (2002) Marine Control Systems. Marine Cybernetics.

„ Perez, T. (2005) Ship Motion Control. Springer.

„ Perez, T. and T.I. Fossen (2007) Kinematic Models for Seakeeping and
Manoeuvring of Marine Vessels. Modeling, Identification and Control, MIC-
28(1):1-12, 2007.

„ Sciavicco, L. and B. Siciliano (2001) Modelling and Control of Robot

Manipulators. Springer Advanced Textbooks in Control and Signal Processing.

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