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Optimal robot‐environment interaction using inverse differential Riccati equation
Author(s) -
Rahimi Nohooji Hamed,
Howard Ian,
Cui Lei
Publication year - 2020
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.2066
Subject(s) - control theory (sociology) , riccati equation , optimal control , algebraic riccati equation , lyapunov function , trajectory , mathematics , differential equation , position (finance) , linear quadratic regulator , equilibrium point , interval (graph theory) , mathematical optimization , computer science , control (management) , mathematical analysis , physics , finance , nonlinear system , quantum mechanics , artificial intelligence , astronomy , combinatorics , economics
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.