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 |
| _version_ | 1848763049918332928 |
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| author | Nohooji, Hamed Rahimi Howard, Ian Cui, Lei |
| author_facet | Nohooji, Hamed Rahimi Howard, Ian Cui, Lei |
| author_sort | Nohooji, Hamed Rahimi |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T10:57:17Z |
| format | Journal Article |
| id | curtin-20.500.11937-73586 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T10:57:17Z |
| publishDate | 2019 |
| publisher | Wiley |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-735862022-10-06T04:04:20Z Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation Nohooji, Hamed Rahimi Howard, Ian Cui, Lei 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. 2019 Journal Article http://hdl.handle.net/20.500.11937/73586 10.1002/asjc.2066 http://purl.org/au-research/grants/arc/DE170101062 Wiley fulltext |
| spellingShingle | Nohooji, Hamed Rahimi Howard, Ian Cui, Lei Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation |
| title | Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation |
| title_full | Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation |
| title_fullStr | Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation |
| title_full_unstemmed | Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation |
| title_short | Optimal Robot-Environment Interaction Using Inverse Differential Riccati Equation |
| title_sort | optimal robot-environment interaction using inverse differential riccati equation |
| url | http://purl.org/au-research/grants/arc/DE170101062 http://hdl.handle.net/20.500.11937/73586 |