Optimal robot‐environment interaction using inverse differential Riccati equation. Issue 4 (20th February 2019)

• Record Type: Journal Article
• Authors: Rahimi Nohooji, Hamed; Howard, Ian; Cui, Lei
• Is Part Of: Asian journal of control. Volume 22:Issue 4(2020)
• Page Start: 1401
• Page End: 1410
• Publication Date: 2019-02-20
• Subjects: inverse differential riccati equation -- lyapunov direct method -- optimal control -- robot‐environment interaction -- trajectory tracking; Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.2066
• Languages: English
• ISSNs: 1561-8625

Abstract

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.