xe=u(7);ye=u(8);the=u(9);
vr=1;wr=1;
delta1=0.05;delta2=0.05;
k1=6;k2=6;
s1=xe;
s2=the+atan(vr*ye);

Q=vr/(1+vr^2*ye^2);
u4=(wr+Q*vr*sin(the)+k2*s2/(abs(s2)+delta2))/(1+Q*xe);
w=u4;
u3=ye*w+vr*cos(the)+k1*s1/(abs(s1)+delta1);