Patent ID: 11865723
Assignee: VANDERBILT UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 12:
13. The method of claim 12, wherein determining the total control vector further comprises:
identifying a first component of the error velocity vector and a second component of the error velocity vector, wherein the first component of the error velocity vector is in the first direction and the second component of the error velocity vector is in the second direction;
determining a first component of the total control vector and a second component of the total control vector, wherein the first component of the total control vector is equal to a product of the axial drag coefficient and the first component of the error velocity vector, and
wherein the second component of the total control vector is equal to a product of the lateral drag efficient and the second component of the error velocity vector; and
determining a combined control vector comprising a vector sum of the first component of the total control vector and the second component of the total control vector.