Motion equations and mathematical modeling

1. Generalized 6-DOF motion equations

2. Simplified 3-DOF (surge, sway, and yaw) motion equations

3. Abkowitz (1966) mathematic models

1. Generalized 6-DOF motion equations

2. Simplified 3-DOF (surge, sway, and yaw) motion equations

3. Abkowitz (1966) mathematic models

where,

Without rudder (i.e., δ = 0)