3.

KINETICS
The rigid-body kinetics wrt. CO (or 𝑜 ) can be expressed in a vectorial setting as

𝑴 = Rigid body matrix expressed in {b}

𝑪 = Coriolis-centripetal matrix expressed in {b} 𝒓
v = [𝑢, 𝑣, 𝜔, 𝑝, 𝑞, 𝑟] is the generalized velocity vector expressed in {b}
𝝉 = [𝑋, 𝑌, 𝑍, 𝐾, 𝑀, 𝑁] is a generalized vector of external forces and moments.

---------------------------- Definition of Rigid Body Mass Matrix ---------------------------

𝑺 𝒓 : skew symmetric matrix of 𝒓

(this matrix is used as a cross-product

operator.)
𝑰
I3x3 = Identity matrix of 3x3 dimensions, 𝒓 = 𝑥 ,𝑦 ,𝑧 vector from 𝑜 to CG expressed in {b}

Ix , Iy and Iz are the moments of inertia about the xb , yb and zb axes, and Ixy = Iyx , Ixz = Izx and Iyz =
Iyz are the products of inertia:
---------------------- Definition of Coriolis-Centripetal Matrix -------------------
The matrix 𝑪 in the eqn. of motion represents the coriolis vector term 𝝎 / ×𝒗 / and the centripetal
vector term 𝝎 / × (𝝎 / × 𝒓 ). Contrary to the representation of 𝑴 , it is possible to find a large number
of representations for the matrix 𝑪 .

1. Coriolis–Centripetal Matrix from System Inertia Matrix

The Coriolis–centripetal matrix can always be parameterized such that C(ν) = - C(ν) by choosing

𝟎 −𝑺(𝑴 𝒗 + 𝑴 𝒗 )
C(v) =
−𝑺(𝑴 𝒗 + 𝑴 𝒗 ) −𝑺(𝑴 𝒗 + 𝑴 𝒗 )

where 𝒗 := 𝒗 / = [𝑢, 𝑣, 𝑤] , 𝒗 := 𝝎 / = [𝑝, 𝑞, 𝑟] and S is the cross-product operator (skew-symmetric

matrix).

2. Rigid-Body Coriolis and Centripetal Matrix

This type of definition is very useful when designing a nonlinear motion control system since the quadratic
form 𝒗 𝑪 (𝒗) 𝒗 ≡ 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 exist several parametrizations, two of
them are presented below:
2.1. Lagrangian parametrization
There are two form of Lagrangian parametrization, one of it is that:

𝟎 −𝑚𝑺(𝒗 ) − 𝑚𝑺(𝑺(𝒗 )𝒓 )
𝑪 (v) =
−𝑚𝑺(𝒗 ) − 𝑚𝑺(𝑺(𝒗 )𝒓 ) 𝑚𝑺(𝑺(𝒗 )𝒓 ) − 𝑺(𝑰 𝒗 )

it can also be defined as

𝟎 −𝑚𝑺(𝒗 ) − 𝑚𝑺(𝒗 )𝑺(𝒓 )

𝑪 (v) =
−𝑚𝑺(𝒗 ) + 𝑚𝑺(𝒓 )𝑺(𝒗 ) − 𝑺(𝑰 𝒗 )

{ }
In order to ensure that 𝑪 (𝒗) = −𝑪 (𝒗), it is necessary to use 𝑺(𝒗 )𝒗 = 0 and include 𝑺(𝒗 ) in 𝑪 .

2.2. Velocity-independent parametrization

The expression of 𝑪 (𝒗) independent of linear velocity 𝒗 is given as

𝑚𝑺(𝒗 ) 𝑚𝑺(𝒗 )𝑺(𝒓 )

𝑪 (v) =
𝑚𝑺(𝒓 )𝑺(𝒗 ) − 𝑺(𝑰 𝒗 )

This expression is useful when ocean currents enter the equations of motion. The main reason for this
is that 𝑪 (𝒗) does not depend on linear velocity 𝒗 (uses only angular velocity 𝒗 and lever arm 𝒓 ).