ship
dynamic equations for the ship benchmark model
Contents
Syntax
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
References
- [1] Krasowski et al. (2022), CommonOcean: Vessel Models
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