Patent ID: 9233314
Filing Date: 2016-01-12
CPC Classification: A63F,A63H,G05D

Claim Text:
1. A method for controlling the position of a vehicle on a track wherein the method comprises the steps of: taking a first measurement of a lateral position of the vehicle on the track; comparing the first measured lateral position with a desired lateral position for the vehicle so as to produce an error signal; generating within a primary feedback loop of a steering servo a first input signal for a steering servo of the vehicle so as to minimise the error signal, the primary feedback loop having a first responsivity (Ks); measuring the angle between the direction of propagation of the vehicle and a longitudinal axis of the track; and generating within a secondary feedback loop of the steering servo a second input signal for the steering servo so as to minimise the measured angle the secondary feedback loop having a second responsivity (Klf2), wherein the second responsivity (Klf2) is made equal to the reciprocal of a responsivity of the steering servo (Kss).