# ship

dynamic equations for the ship benchmark model

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also
- References

## Syntax

f = ship(x,u,w)

## Description

Dynamic equation for the ship benchmark model (see Sec. 6 in [1]). The benchmark represents a 3 degree of freedom model of a container vessel. The system states are the x and y position, the orientation, the velocities in x and y in the vessel coordinate frame, and the angular velocity. Control inputs to the system are the forces and the moment acting on the ship.

## Input Arguments

x | system states x (dimension: [nx,1])
u | control inputs u (dimension: [nu,1])
w | disturbances w (dimension: [nw,1])

## Output Arguments

f | value of the dynamic function = time derivative of x

## See Also

`cart`, `robotArm`

## References

- [1] Krasowski et al. (2022), CommonOcean: Vessel Models

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