Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation
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 environ...
| Main Authors: | , , |
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| Format: | Journal Article |
| Published: |
Wiley
2019
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| Online Access: | http://purl.org/au-research/grants/arc/DE170101062 http://hdl.handle.net/20.500.11937/73586 |
| Summary: | 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. |
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