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dc.contributor.authorNohooji, Hamed Rahimi
dc.contributor.authorHoward, Ian
dc.contributor.authorCui, Lei
dc.identifier.citationNohooji, H. and Howard, I. and Cui, L. 2019. Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation. Asian Journal of Control.en_US

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.

dc.titleOptimal Robot-Environment Interaction Using Inverse Differential Riccati Equationen_US
dc.typeJournal Articleen_US
dcterms.source.titleAsian Journal of Controlen_US
curtin.departmentSchool of Civil and Mechanical Engineeringen_US
curtin.accessStatusOpen accessen_US
curtin.facultyScience and Engineeringen_US
curtin.contributor.orcidHoward, Ian [0000-0003-3999-9184]

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