Why The Fossen Model Is So Popular For Marine Vehicles’ Dynamic Analysis?

Among various approaches, the Fossen model has gained significant popularity due to its comprehensive representation of nonlinear hydrodynamic forces, stability, and modular structure. This paper compares different simulation models using a one-degree-of-freedom (1-DOF) system, demonstrating the benefits of the Fossen model over conventional mass-spring-damper-based approaches. By incorporating added mass, nonlinear damping, and restoring forces, the Fossen model provides a more accurate representation of marine dynamics. Additionally, its difference equation formulation ensures efficient computation while preserving stability, making it suitable for both real-time applications and high-fidelity simulations. The study highlights the impact of different numerical integration techniques and simulation environments, providing a foundation for extending the analysis to multi-degree-of-freedom systems.