Errata

Handbook of Marine Craft Hydrodynamics and Motion Control

Most recently revised on March 29, 2023

These are errata for the 2nd edition of the Wiley textbook “Handbook of Marine Craft
Hydrodynamics and Motion Control ” by Thor I. Fossen.

Equation (9.123) The rudder’s angle of attack should be from FLOW to BODY axes to be
consistent with (2.150). Hence, the rotation matrix should use −δR and not δR such that
    
XR cos(−δR ) − sin(−δR ) −Fdrag
= (9.123)
YR sin(−δR ) cos(−δR ) −Flift

Section 2.4 The transformations for longitude, latitude, and height to flat Earth should be
yn
∆l = (2.113)
(RN + href ) cos(µ0 )
xn
∆µ = (2.114)
RM + href
and

xn = ∆µ (RM + href ) (2.118)

This follows from Equation (2.39) in Farrell (2008).

Section 16.4.6 (Case study) The adaptive-gain super twisting algorithm (STA) should use

β = β1 α + β0 (16.509)

where β0 and β1 are constants instead of β = β0 = constant. This is also corrected in the
MSS toolbox file, ExSTA.m.

1
Corrected in prints after August 2022
Page 45 The square root should be removed such that
1 − e2
RM = RN (2.112)
1 − e2 sin2 (µ0 )

Page 58 Replace the sentence below Equation (3.13) with “Further, Equation(3.11) can be
rewritten as”

Page 228 The term Tm should be replaced by Tm s in Equation (9.35) such that
Qm Km
H(s) = (s) ≈ e−τ s (9.35)
Y Tm s + 1

Example 13.1 The noise terms w1 , w2 and w3 in (13.45), (13.46) and (13.48), respectively
should be renumbered according to w2 , w3 and w1 in order to match the E matrix in
(13.53). More specific

ψ̇ = r (14.44)
1 K
ṙ = − r + (δ − b) + w2 (14.46)
T T
ḃ = w3 (14.46)

ξ˙w = ψw (14.47)
ψ̇w = −ω02 ξw − 2λω0 ψw + Kw w1 (14.48)

Page 240 Equations (9.105)–(9.106) should be premultiplied by 1/2 and not 1/4 according to
1
Yδ = (1 + aH )ρUR2 AR CN > 0 (9.105)
2
1
Nδ = (xR + aH xH )ρUR2 AR CN < 0 (9.106)
2

Pages 290-295 Remove the double subscript for ϵi,k in (10.86), (10.96) and (10.106) such that
N X
N p
ω2
X  
ξ= 2SM (ωk , µi − β)∆ω∆µ cos ωk t − k U cos(µi − β) t + ϵk (10.86)
g
k=1 i=1

N X
M
{dof} {dof}
X p
τwave1 = ρg Fwave1 (ωk , µi − β) 2SM (ωk , µi − β)∆ω∆µ
k=1 i=1
 
{dof}
cos ωe (U, ωk , µi − β)t + ̸ Fwave1 (ωk , µi − β) + ϵk (10.96)

2
 N X
X M
{dof} {dof}
p
ηw = ηw (ωk , µi − β) 2SM (ωk , µi − β)∆ω∆µ
k=1 i=1
 
{dof}
cos ωe (U, ωk , µi − β)t + ̸ ηw (ωk , µi − β) + ϵk (10.106)

Page 336 The sentence below (12.6) should be

Page 554 The matrix P 22 should be replaced by P 21 in the last line of (16.19)

...
= − R−1 B ⊤ P 21 z − R−1 B ⊤ P 22 x (16.19)
| {z } | {z }
Ki Kp

Page 582 The left-hand side of (16.143) should be replaced by

M (ν̇ − ab ) = ... (16.143)

Corrected in prints after June 2021

Page 44 Replace “h is the vertical distance from the sea level to the coordinate origin of {b}”
with “h is the vertical distance from the surface of the ellipsoid to the coordinate origin of
{b}”.

Page 48 Replace “From (2.36) it follows that” with “From (2.34) and (2.35) it follows that”.

Page 50 Delete “β is small and ” such that the sentence read “Time differentiation of β under
the assumption that U r > 0 is constant gives”.