Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation
|dc.contributor.author||Nohooji, Hamed Rahimi|
|dc.identifier.citation||Nohooji, H. and Howard, I. and Cui, L. n.d. 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.title||Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation||en_US|
|dcterms.source.title||Asian Journal of Control||en_US|
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.
|curtin.department||School of Civil and Mechanical Engineering||en_US|
|curtin.faculty||Science and Engineering||en_US|