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    Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation

    Rahimi_Howard_Cui_Asian J Control..pdf (454.5Kb)
    Access Status
    Open access
    Authors
    Nohooji, Hamed Rahimi
    Howard, Ian
    Cui, Lei
    Date
    n.d.
    Type
    Journal Article
    
    Metadata
    Show full item record
    Abstract

    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.

    Citation
    Nohooji, H. and Howard, I. and Cui, L. n.d. Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation. Asian Journal of Control.
    Source Title
    Asian Journal of Control
    Faculty
    Science and Engineering
    School
    School of Civil and Mechanical Engineering
    Remarks

    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.

    URI
    http://hdl.handle.net/20.500.11937/73586
    Collection
    • Curtin Research Publications

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