Systems and methods for motion control of steerable devices

An apparatus comprising:

• one or more processors;
• and
• non-transitory computer memory storing machine-executable instructions that, when executed by the one or more processors, cause the apparatus to:
• receive, from a control device, a first user input commanding motion of a steerable device in a first direction;
• track a virtual user-instructed position based on the first user input;
• command an actuator coupled to the steerable device to move the steerable device in the first direction based on the first user input, wherein movement of the steerable device in response to the first user input generates a position discrepancy;
• detect, from a sensor of the steerable device, a device position of a portion of the steerable device;
• determine a measure of the position discrepancy;
• receive, from the control device, a second user input commanding motion of the steerable device in a second direction, wherein at least a portion of the second direction is opposite the first direction;
• and
• in response to the second user input, reduce the position discrepancy based on an aspect of the second user input and a catch-up profile.