Research Article
Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems
Table 3
Comparison of the disturbance rejection between PID-FC and LQR-FC controllers with a 500 g loading.
| | Maximum tracking error (mm) | Maximum synchronization error (mm) |
| PID-FC with a fixed 500 g loading | 11.55 (L) 12.56 (R) | 1.23 |
| PID-FC with a 500 g loading attached at 40 mm | 12.07 (L) 13.01 (R) | 2.79 |
| LQR-FC with a fixed 500 g loading | 4.32 (L) 5.01 (R) | 3.87 |
| LQR-FC with a 500 g loading attached at 40 mm | 4.02 (L) 9.08 (R) | 6.12 |
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