||Thor I. Fossen
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In the first book released by Wiley on the subject matter in 1994, first attempt was made to bring hydrodynamic modeling and control system design into a unified notation for modeling, control and simulation. The present publication also contains state-of-the-art control design methods for ships as well as for underwater vehicles up to 1994. In the period 1994—2002 a great deal of work was done on nonlinear control of marine craft. This work resulted in many useful results and lecture notes, which have been collected and published in a second book entitled Marine Control Systems: Guidance, Navigation and Control of Ships and Underwater Vehicles. The first edition was published in 2002 and it was used as the main textbook in my course on Guidance and Control at the Norwegian University of Science and Technology. Instead of making a second edition of the book, I decided to write the Handbook of Marine Craft Hydrodynamics and Motion Control and merge the most important results from my previous two books with recent results. Part I of the book covers both maneuvering and seakeeping theory and it is explained in detail how the equations of motion can be derived for both cases using both frequency- and time-domain formulations. This includes transformations from the frequency to the time domain and the explanation of fluid-memory effects. A great effort has been made in the development of kinematic equations for effective representation of the equations of motion in seakeeping. body, inertial and geographical coordinates. This is very confusing in the existing literature on hydrodynamics and the need to explain this properly motivated me to find a unifying notation for marine and mechanical systems. This was done in the period 2002-2010 and it is inspired by the elegant formulation used in robotics where systems are represented in a vectoriaJ notation. The new results on maneuvering and seakeeping are joint work with Professor Tristan Perez, University of Newcastle, Australia. The work with Professor Perez has resulted in several joint publications and I am grateful to him for numerous interesting discussions on hydrodynamic modeling and control. He should also be thanked for proofreading parts of the manuscript...