Why the Fossen model is so popular for marine vehicles’ dynamic analysis?

Authors

DOI:

https://doi.org/10.26034/lu.akwi.2026.8839

Keywords:

Dynamic models simulation, Fossen model, Marine vehicles, mass-spring-damper

Abstract

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.

Author Biographies

Pawel Piskur, Polish Naval Academy

Pawel Piskur. Graduated from the Military University of Technology in Warsaw with a degree in Airplane Studies in 2004. He worked for 13 years in the Marine Aviation Base in Polish Army. In 2010 he received PhD degree from Koszalin University of Technology in mechanical engineering. Since 2017 he is working at Polish Naval Academy. In 2024 he obtained the academic degree of habilitated doctor at Air Force Institute of Technology in Warsaw. His research area is strictly connected with underwater unmanned vehicles, especially biomimetic propulsion systems.

Piotr Szymak, Polish Naval Academy

Piotr Szymak. He is a scientist and navy officer. He graduated from the Military University of Technology in Warsaw with an MSc degree in electronics and telecommunication in 1999. He served for 2 years in the 6th Radioelectronic Centre in Polish Navy. Since 2001 he has been serving in Polish Naval Academy (PNA) in the following positions: assistant, lecturer, adjunct, head of department, assistant professor, and associate professor. He was a director of the Institute of Electrical Engineering and Automatics in PNA in the years 2015-2019. In the years 2019 - 2022, he was the Polish naval Captech National Coordinatorat European Defence Agency. In 2004 he received a PhD degree from Polish Naval Academy, and in 2016 he obtained the academic degree of habilitated doctor at Cracow University of Technology. His research area is strictly connected with the modelling and control of marine objects, especially the unmanned surface and underwater vehicles, including recently biomimetic underwater vehicles.

Rafal Kot, Polish Naval Academy

Rafa l Kot. Graduated from the Military University of Technology in Warsaw with a degree in Electronics and Telecommunication Studies in 2016. He worked for almost 6 years in the Marine Aviation Base in the Polish Army where he gained experience in servicing and maintenance of aircraft in the avionics area. From the beginning of 2022, he is working at Polish Naval Academy. His main research includes underwater obstacle detection systems, path planning algorithms, and collision avoidance systems for Autonomous Underwater Vehicles.

Lukasz Marchel, Polish Naval Academy

Lukasz Marchel. He is a researcher and lecturer at the Polish Naval Academy in Gdynia. He obtained his Ph.D. in engineering sciences in 2020. His research interests focus on the modeling of physical phenomena, extreme optimization, parallel computing, and their applications in marine engineering. He has authored and co-authored numerous scientific publications in these fields.

Krzysztof Naus, Polish Naval Academy

He is a professor and researcher at the Polish Naval Academy in Gdynia. He obtained his Ph.D. in 2003 and his habilitation at the AGH University of Science and Technology in Krak´ow. His research focuses on signal processing, especially in radar and sonar systems. He has published extensively in the areas of software design for swarming underwater vehicles and path-planning algorithms for autonomous marine units.

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Published

2026-09-02

Issue

No. 22 (2026)

Section

Trends

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Copyright (c) 2026 Pawel Piskur, Piotr Szymak, Rafal Kot, Lukasz Marchel, Krzysztof Naus

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This work is licensed under a Creative Commons Attribution 4.0 International License.