Path Following Control of an AUV under the Current Using the SVR-ADRC

<table>The regulated parameters of <svg height="20.362499" id="M129" style="vertical-align:-6.53424pt" version="1.1" viewbox="0 0 28.1875 20.362499" width="28.1875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><path d="M558 587q0 -32 -14 -61t-40 -53.5t-48.5 -41t-54.5 -36.5q144 -51 144 -174q0 -55 -43.5 -108t-104.5 -87q-77 -42 -131 -42q-31 0 -54 20t-31 47l11 18q48 -29 108 -29q79 0 119.5 43t40.5 109t-44.5 107.5t-119.5 50.5l22 47q34 1 65 21q96 61 96 157q0 42 -24 67.5
t-62 25.5q-24 0 -43.5 -9t-35 -29.5t-27 -44t-22.5 -63t-19.5 -75.5t-18.5 -91q-57 -294 -68 -380q-26 -190 -35 -200q-26 -31 -97 -37l-4 26q19 9 48 170l77 413q23 121 52.5 187.5t83.5 114.5q70 62 148 62q51 0 88.5 -34t37.5 -91z" id="x1D6FD"></path></g>
<g transform="matrix(.012,-0,0,-.012,9.938,17.2)"><path d="M559 271q0 -109 -83 -187t-189 -89l-36 -213q-16 -30 -86 -43l-7 9q10 36 53 242q-91 11 -139.5 63.5t-48.5 132.5q0 186 242 271l11 -28q-76 -34 -119.5 -91.5t-43.5 -136.5q0 -66 29 -108.5t77 -55.5q39 205 56 260q21 71 65 111t93 40q50 0 88 -45.5t38 -131.5z
M484 273q0 65 -26.5 99t-52.5 34q-37 0 -53 -75l-59 -298q80 5 135.5 74.5t55.5 165.5z" id="x1D711"></path></g><g transform="matrix(.012,-0,0,-.012,16.863,17.2)"><path d="M391 364q0 -28 -20.5 -53.5t-50 -43.5t-70 -34t-73.5 -25t-68 -17v-29q0 -48 20 -81t65 -33q73 0 157 76l16 -23q-107 -113 -221 -113q-21 0 -40.5 6.5t-39 22t-31.5 47t-12 75.5q0 69 33.5 139.5t95.5 114.5q77 55 143 55q42 0 69 -24.5t27 -59.5zM313 350
q0 26 -14.5 40.5t-37.5 14.5q-32 0 -44 -7q-82 -46 -104 -175q200 49 200 127z" id="x1D452"></path></g><g transform="matrix(.012,-0,0,-.012,21.789,17.2)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
</svg> and <svg height="20.362499" id="M130" style="vertical-align:-6.53424pt" version="1.1" viewbox="0 0 28.1875 20.362499" width="28.1875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><path d="M558 587q0 -32 -14 -61t-40 -53.5t-48.5 -41t-54.5 -36.5q144 -51 144 -174q0 -55 -43.5 -108t-104.5 -87q-77 -42 -131 -42q-31 0 -54 20t-31 47l11 18q48 -29 108 -29q79 0 119.5 43t40.5 109t-44.5 107.5t-119.5 50.5l22 47q34 1 65 21q96 61 96 157q0 42 -24 67.5
t-62 25.5q-24 0 -43.5 -9t-35 -29.5t-27 -44t-22.5 -63t-19.5 -75.5t-18.5 -91q-57 -294 -68 -380q-26 -190 -35 -200q-26 -31 -97 -37l-4 26q19 9 48 170l77 413q23 121 52.5 187.5t83.5 114.5q70 62 148 62q51 0 88.5 -34t37.5 -91z" id="x1D6FD"></path></g>
<g transform="matrix(.012,-0,0,-.012,9.938,17.2)"><path d="M559 271q0 -109 -83 -187t-189 -89l-36 -213q-16 -30 -86 -43l-7 9q10 36 53 242q-91 11 -139.5 63.5t-48.5 132.5q0 186 242 271l11 -28q-76 -34 -119.5 -91.5t-43.5 -136.5q0 -66 29 -108.5t77 -55.5q39 205 56 260q21 71 65 111t93 40q50 0 88 -45.5t38 -131.5z
M484 273q0 65 -26.5 99t-52.5 34q-37 0 -53 -75l-59 -298q80 5 135.5 74.5t55.5 165.5z" id="x1D711"></path></g><g transform="matrix(.012,-0,0,-.012,16.863,17.2)"><path d="M391 364q0 -28 -20.5 -53.5t-50 -43.5t-70 -34t-73.5 -25t-68 -17v-29q0 -48 20 -81t65 -33q73 0 157 76l16 -23q-107 -113 -221 -113q-21 0 -40.5 6.5t-39 22t-31.5 47t-12 75.5q0 69 33.5 139.5t95.5 114.5q77 55 143 55q42 0 69 -24.5t27 -59.5zM313 350
q0 26 -14.5 40.5t-37.5 14.5q-32 0 -44 -7q-82 -46 -104 -175q200 49 200 127z" id="x1D452"></path></g><g transform="matrix(.012,-0,0,-.012,21.789,17.2)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g>
</svg>.</table>

Journal of Applied Mathematics

fig8

Figure 8

Figure 8: Path Following Control of an AUV under the Current Using the SVR-ADRC 