Research Article
Path Following Control of an AUV under the Current Using the SVR-ADRC
Table 1
The notation of math model according to SNAME.
| | DOF | Forces and moments | Linear and angular velocities | Positions and Euler angles |
| | Motions in the -direction (surge) | | | | | Motions in the -direction (sway) | | | | | Motions in the -direction (heave) | | | | | Rotation about the -axis (roll, heel) | | | | | Rotation about the -axis (pitch, trim) | | | | | Rotation about the -axis (yaw) | | | |
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