Chapter 3 Rigid-Body Kinetics

3.1 NewtonEuler Equations of Motion about CG

3.2 NewtonEuler Equations of Motion about CO
3.3 Rigid-Body Equations of Motion
In order to derive the marine craft equations of motion, it is necessary to study of the
motion of rigid bodies, hydrodynamics and hydrostatics.
The overall goal of Chapter 3 is to show that the rigid-body kinetics can be expressed in a
vectorial setting according to:
MRB C RB RB #

MRB Rigid-body mass matrix

CRB Rigid-body Coriolis and centripetal matrix due to the rotation of {b} about {n}
= [u,v,w,p,q,r]T generalized velocity expressed in {b}
RB = [X,Y,Z,K,M,N]T generalized forces expressed in {b}

Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

Chapter 3 Rigid-Body Kinetics

The equations of motion will be represented in two body-fixed reference points:
1) Center of gravity (CG), subscript g
2) Origin ob of {b}, subscript b
These points coincides if the vector r g
0

Time differentiation of a vector

in a moving reference frame {b} satisfies
id

dt

bd

dt

b/i a

a
{b}

Time differentiation in {b} is denoted as

:
a

bd

dt

CO

a
rb/i
rg/i

{i}={n} inertial frame

rg
CG

3.1 Newton-Euler Equations of Motion

about CG
Coordinate-free vector: A vectorv b/n , velocity of {b} with respect to {n}, is defined by its
magnitude and direction but without reference to a coordinate frame.
Coordinate vector: A vector v b/n decomposed in the inertial reference frame is denoted by v ib/n
Newton-Euler Formulation
Newton's Second Law relates mass m, acceleration v g/i and force f g according to:
g/i f g
mv
Isaac Newton (1642-1726)

where the subscript g denotes the center of gravity (CG).

Euler's First and Second Axioms
Euler suggested to express Newton's Second Law in terms of conservation
of both linear momentum p g and angular momentum
h gaccording to:
id

p g f g

dt
id

g
h m
dt g

p g mvg/i

Leonhard Euler (1707-1783)

b/i #
h g Ig

f g and m
g are forces/moments about CG
b/i is the angular velocity of frame b relative frame i

Ig is the inertia dyadic about the body's CG

Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

3.1.1 Translational Motion about CG

When deriving the equations of motion it will be assumed that:
(1)
(2)

The vessel is rigid

The NED frame is inertialthat is, {n} {i}

The first assumption eliminates the consideration of forces acting between individual
elements of mass while the second eliminates forces due to the Earth's motion
relative to a star-fixed inertial reference system such that:

vg/i
vg/n
b/i
b/n

For guidance and navigation applications in space it is usual to use a star-fixed reference
frame or a reference frame rotating with the Earth. Marine crafts are, on the other
hand, usually related to the NED reference frame. This is a good assumption since
forces on a marine craft due to the Earth's rotation:
e/i 7. 2921 10 5 rad/s

are quite small compared to the hydrodynamic forces.

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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

3.1.1 Translational Motion about CG

r g/n r b/n r g #

{n} is inertial

r g/i r b/i r g #

Time differentiation of r g/n in a moving

reference frame {b} gives

v g/n
v b/n

bd

dt

b/n r g
r g

{b}

CO

rg
CG

For a rigid body, CG satisfies

bd

dt

r g
0 #
rb/i

b/n r g #

v g/n
v b/n

rg/i
{i}={n} inertial frame

Body-fixed reference frame {b} is fixed in

the point CO and rotating with respect
to the inertial frame {i}

f g i d mvg/i
dt
i
d mvg/n
dt
b
Translational Motion about CG Expressed in {b}
b/n mvg/n
d mvg/n m
dt
b/n v g/n
mvg/n
#
mv bg/n S bb/n v bg/n f bg #
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

3.1.2 Rotational Motion about CG

The derivation starts with the Eulers 2nd axiom:
i
b/i
g d I g
m
dt
i
b/n
d I g
dt
b
b/n
b/n I g
b/n
d I g
dt
b/n I g
b/n
b/n
Ig
#

Rotational Motion about CG Expressed in {b}

Ig bb/n SIg bb/n bb/n mbg

where Ig is the inertia matrix

where Ix, Iy, and Iz are the moments of inertia about {b} and Ixy=Iyx, Ixz=Izx and Iyz=Izy are the
products of inertia defined as:
Ix
I yx

Ig :

I xy I xz
Iy

I zx I zy

I yz

Ig Ig 0 #

Iz

I x y 2 z 2 m dV;

I xy xy m dV yx m dV I yx

I y x 2 z 2 m dV;

I xz xz m dV zx m dV I zx

I z x 2 y 2 m dV;

I yz yz m dV zy m dV I zy

V
V

V
V

Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

V
V

3.1.3 Equations of Motion about CG

The Newton-Euler equations can be represented in matrix form according to:

MCG
RB

v bg/n
bb/n

C CG
RB

v bg/n

bb/n

f bg
mbg

Expanding the matrices give:

mI33 0 33

v bg/n

0 33

bb/n

Ig

Isaac Newton (1642-1726)

Leonhard Euler (1707-1783)

mS bb/n

0 33

v bg/n

0 33

SIg bb/n

bb/n

MCG
RB

Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

C CG
RB

f bg
mbg

3.2 Newton-Euler Equations of Motion

about CO
For marine craft it is desirable to derive the equations of motion
for an arbitrary origin CO to take advantage of the craft's
geometric properties. Since the hydrodynamic forces and
moments often are computed in CO, Newton's laws will be
formulated in CO as well.
Transform the equations of motion from CG to CO
using a coordinate transformation based on:
v bg/n v bb/n bb/n rbg

v bg/n

v bb/n rbg bb/n

bb/n

v bb/n S rbg bb/n #

v bb/n

Hrbg

bb/n

Transformation matrix:
Hrbg :
8

I33 S rbg
0 33

I33

H rbg

Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

I33

0 33

Srbg I33

3.2 Newton-Euler Equations of Motion

about CO
Newton-Euler equations in matrix form (about CG)
MCG
RB

v bg/n
bb/n

v bg/n

C CG
RB

bb/n

f bg

v bg/n

mbg

bb/n

v bb/n

Hrbg

bb/n

Expanding the matrices

mI33 0 33

v bg/n

0 33

bb/n

Ig

mS bb/n

0 33

v bg/n

0 33

SIg bb/n

bb/n

MCG
RB

f bg

mbg

C CG
RB

Newton-Euler equations in matrix form (about CO)

b
H rbg MCG
RB Hrg

v bb/n
bb/n

b
H rbg C CG
RB Hrg

Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

v bb/n
bb/n

H rbg

f bg
mbg

3.2 Newton-Euler Equations of Motion

about CO
b
H rbg MCG
RB Hrg

v bb/n
bb/n

b
H rbg C CG
RB Hrg

v bb/n

H rbg

bb/n

The mass and Coriolis-centripetal matrices in CO are defined as:

b
CG
b
MCO
RB : H rg MRB Hrg #
CG
b
b
C CO
RB : H rg C RB Hrg

Expanding the matrices

MCO
RB

C CO
RB

10

mI33

mSrbg

mSrbg Ig mS 2 rbg
mS bb/n

mS bb/n Srbg

mSrbg S bb/n SIg mS 2 rbg bb/n

Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

f bg
mbg

3.2.1 Translational Motion about CO

Translational Motion about CO Expressed in {b}
mv bb/n S bb/n rbg S bb/n v bb/n S 2 bb/n rbg f bb #

An alternative representation using vector cross products is:

mv bb/n bb/n rbg bb/n v bb/n bb/n bb/n rbg f bb #

11

Copyright Bjarne Stenberg/NTNU

Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

3.2.2 Rotational Motion about CO

Rotational Motion about CO Expressed in {b}
Ib bb/n S bb/n Ib bb/n mSrbg v bb/n mSrbg S bb/n v bb/n mbb #

An alternative representation using vector cross products is:

Ib bb/n bb/n Ib bb/n mrbg v bb/n bb/n v bb/n mbb #

Theorem 3.1 (Parallel Axes or Huygens-Steiner Theorem)

The inertia matrix Ib about an arbitrary origin ob is given by:
Ig mSrbg S rbg Ig mS 2 rbg
Ib

where Ig is the inertia matrix about the body's center of gravity.

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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

Christian Huygens (1629-1695)

Jakob Steiner (1796-1863)

3.3 Rigid-Body Equations of Motion

f bb

X, Y, Z

- force through o b expressed in b

mbb

K, M, N

- moment about o b expressed in b

v bb/n u, v, w

- linear velocity of o b relative o n expressed in b

bb/n p, q, r

- angular velocity of b relative to n expressed in b

rbg

x g , y g , z g - vector from o b to CG expressed in b

Component form (SNAME 1950)

mu vr wq x g q 2 r 2 y g pq r z g pr q

mv wp ur y g r 2 p 2 z g qr p x g qp r

mw uq vp z g p 2 q 2 x g rp q y g rq p

I x p I z I y qr r pqI xz r 2 q 2 I yz pr q I xy
my g w uq vp z g v wp ur K
I y q I x I z rp p qrI xy p 2 r 2 I zx qp r I yz
mz g u vr wq x g w uq vp M
I z r I y I x pq q rpI yz q 2 p 2 I xy rq p I zx
mx g v wp ur y g u vr wq N
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

3.3.1 Nonlinear 6-DOF Rigid-Body

Equations of Motion
Matrix-Vector Form (Fossen 1991)

M RB C RB RB

u, v, w, p, q, r generalized velocity

Property 3.1 (Rigid-Body System Inertia Matrix) M RB M RB 0,

M RB

14

mI 33

mSrbg

mSr bg

Io

RB 0 66
M

I 33 is the identity matrix

mz g

my g

mz g

mx g

my g

mx g

Ib Ib 0 is the inertia
matrix about CO

mz g

my g

Ix

I xy

I xz

mz g

mx g

I yx

Iy

I yz

my g

mx g

I zx

I zy

Iz

Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

Srbg is the matrix cross

product operator

3.3.1 Nonlinear 6-DOF Rigid-Body

Equations of Motion
Theorem 3.2 (Coriolis-Centripetal Matrix from System Inertia Matrix)
Let M be a 66 system inertia matrix defined as:

M 11 M 12

M M

M 21 M 22

where M21= M12T. Then the Coriolis-centripetal matrix can always be parameterized such that

C C

0 33

SM 11 1 M 12 2 SM 21 1 M 22 2

where 1 u, v, w , 2 p, q, r

Proof: Sagatun and Fossen (1991).

15

SM 11 1 M 12 2

Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

3.3.1 Nonlinear 6-DOF Rigid-Body

Equations of Motion
Property 3.2 (Rigid-Body Coriolis and Centripetal Matrix)
The rigid-body Coriolis and centripetal matrix C RB can always be represented such
that C RB is skew-symmetric, that is

C RB C RB ,

The skew-symmetric property is very useful when designing nonlinear motion control
system since the quadratic form TCRB() 0.
This is exploited in energy-based designs where Lyapunov functions play a key role. The
same property is also used in nonlinear observer design.

There exists several parameterizations that satisfies Property 3.2. Two of them are
presented on the forthcoming pages:

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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

3.3.1 Nonlinear 6-DOF Rigid-Body

Equations of Motion
Lagrangian Parameterization:
Application of the Theorem 3.2 with M = MRB yields the following expression:

C RB

mS 1 mSS 2 rbg

0 33

mS 1 mSS 2 rbg mSS 1 rbg SI o 2

which can be rewritten according to (Fossen and Fjellstad 1995):

C RB

0 33

mS1 mS2 Srbg

mS1 mSrbg S2

SIb 2

Joseph-Louis Lagrange (1736-1813)

In order to ensure that CRB() = -CRB()T, it is necessary to use S() = 0

and include S() in CRB{21}.

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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

3.3.1 Nonlinear 6-DOF Rigid-Body

Equations of Motion
Linear Velocity Independent Parameterization:
By using the cross-product property S() = -S(), it is possible to move S() from
CRB{12} to CRB{11}. This gives an expression for CRB() that is independent of linear velocity
(Fossen and Fjellstad 1995):

C RB

mS2

mS2 Srbg

mSrbg S2

SIb 2

Remark 1: This expression is useful when ocean currents enter the equations of motion.
The main reason for this is that CRB() does not depend on linear velocity . This can be
further exploited when considering a marine craft exposed to irrotational ocean currents.
According to Property 8.1 in Section 8.3:
MRB C RB MRB r C RB rr #

if the relative velocity vector r = -c is defined such that only linear ocean current
velocities are used:
: u c , v c , w c , 0, 0, 0 #
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

3.3.2 Linearized 6-DOF Rigid-Body

Equations of Motion
The nonlinear rigid-body equations of motion
MRB C RB RB #

can be linearized about = [U,0,0,0,0,0]T for a marine craft moving at forward speed U.
MRB C RB RB #

0 0 0 0

C RB MRB LU #

0 0 0 0

The linearized Coriolis and centripetal forces

are recognized as:
0
mUr
f c C RB

mUq
my g Uq mz g Ur
mx g Uq
mx g Ur

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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

0 0 0 0 1 0
0 0 0 0

0 0 0 0

0 0 0 0

3.3.2 Linearized 6 DOF Rigid-Body

Equations of Motion
Simplified 6-DOF Rigid-Body Equations of Motion
(1) Origin CO coincides with the CG

This implies that rbg 0, 0,0 , Ib Ig such that

MRB

mI33 0 33
0 33

Ig

A further simplification is obtained when the body axes (xb,yb,zb) coincide with the principal axes of
inertia. This implies that
cg cg
Ig diagI cg
x , Iy , Iz

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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)

3.3.2 Linearized 6-DOF Rigid-Body

Equations of Motion
(2) Translation of the origin CO such that Ib becomes diagonal:
The body-fixed frame (xb,yb,zb) can be chosen such that:
Ib diagI x ,I y , I z

If Ig is a full matrix, the parallel-axes theorem:

Ib Ig mS 2 rbg Ig mrbg rbg rbg rbg I33 #

gives
2
2
I x I cg
x my g z g
2
2
I y I cg
y mx g z g #
2
2
I z I cg
z mx g y g

where xg, yg and zg must be chosen such that:

cg cg
2
mI cg
yz x g I xy I xz
cg cg
2
mI cg
#
xz y g I xy I yz
cg cg
2
mI cg
xy z g I xz I yz

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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)