DISTURBANCE COMPENSATION USING CONTROL SYSTEMS FOR AUTONOMOUS SYSTEMS AND APPLICATIONS

The present disclosure relates to determining an observed state of a system based at least on sensor data generated using one or more sensors of the system. The present disclosure further relates to generating disturbance data based at least on comparing an estimated state of the system with the observed state of the system. The present disclosure further relates to updating one or more disturbance terms of a state space formulation based at least on the disturbance data. The present disclosure further relates to generating, based at least on the state space formulation, a control command that directs one or more operations of the system according to plan data indicative of a plan for completing one or more tasks of the system.