Leo Micklem

Gust Estimation and Rejection with a Disturbance Observer for Proprioceptive Underwater Soft Morphing Wings

Unmanned underwater vehicles are increasingly employed for maintenance and surveying tasks at sea, but their operation in shallow waters is often hindered by hydrodynamic disturbances such as waves, currents, and turbulence. These unsteady flows can induce rapid changes in direction and speed, compr…