[FEATURE]: Integrate flow state estimation with NMPC

[rakeshv24]

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