Feature Type
Adding new functionality to the project
Problem Description
The current implementation of the docking framework uses a naive nonlinear MPC and does not consider external disturbances as input to the controller. Real-time estimation of ocean flow will enhance trajectory tracking by compensating for external disturbances from ocean currents affecting the vehicle's motion.
Feature Description
Implement the controller designed by Vivekanandan et al. [1].
Alternative Solutions
n/a
Additional Context
No response
Feature Type
Adding new functionality to the project
Problem Description
The current implementation of the docking framework uses a naive nonlinear MPC and does not consider external disturbances as input to the controller. Real-time estimation of ocean flow will enhance trajectory tracking by compensating for external disturbances from ocean currents affecting the vehicle's motion.
Feature Description
Implement the controller designed by Vivekanandan et al. [1].
Alternative Solutions
n/a
Additional Context
No response