Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation
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An optimal robot-environment interaction is designed by transforming an environment model into an optimal control problem. In the optimal control, the inverse differential Riccati equation is introduced as a fixed-end-point closed-loop optimal control over a specific time interval. Then, the environment model, including interaction force is formulated in a state equation, and the optimal trajectory is determined by minimizing a cost function. Position control is proposed, and the stability of the closed-loop system is investigated using the Lyapunov direct method. Finally, theoretical developments are verified through numerical simulation.
This is the submitted, pre-peer reviewed, version of the cited article, which will be published in final form at https://onlinelibrary.wiley.com/journal/19346093. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions.
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