Abstract
The paper presents a state-space equation for the two-link and three-link fingers and proposed a solution of finite-time, nonlinear and closed-loop optimal control tracking problem using the state-dependent Riccati equations. The technique involves the use of the solution of the algebraic Riccati equation for the infinite-time case (hence the technique is approximate) and the change of variables that converts a state-dependent, nonlinear, differential Riccati equation (SD-DRE) to a linear differential Lyapunov equation (DLE) which can be solved in analytical form. The effectiveness is validated by using software simulation and hardware experiment.
| Original language | English (US) |
|---|---|
| Title of host publication | 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018 |
| Publisher | IEEE Computer Society |
| Pages | 698-703 |
| Number of pages | 6 |
| ISBN (Print) | 9781538660898 |
| DOIs | |
| State | Published - Aug 21 2018 |
| Event | 14th IEEE International Conference on Control and Automation, ICCA 2018 - Anchorage, United States Duration: Jun 12 2018 → Jun 15 2018 |
Publication series
| Name | IEEE International Conference on Control and Automation, ICCA |
|---|---|
| Volume | 2018-June |
| ISSN (Print) | 1948-3449 |
| ISSN (Electronic) | 1948-3457 |
Other
| Other | 14th IEEE International Conference on Control and Automation, ICCA 2018 |
|---|---|
| Country/Territory | United States |
| City | Anchorage |
| Period | 6/12/18 → 6/15/18 |
Bibliographical note
Publisher Copyright:© 2018 IEEE.