Advanced Control Strategies for the Robotic Hand

Ibrahim Baz Khallouf, Desineni S Naidu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publication2018 IEEE 14th International Conference on Control and Automation, ICCA 2018
PublisherIEEE Computer Society
Pages698-703
Number of pages6
ISBN (Print)9781538660898
DOIs
StatePublished - Aug 21 2018
Event14th IEEE International Conference on Control and Automation, ICCA 2018 - Anchorage, United States
Duration: Jun 12 2018Jun 15 2018

Publication series

NameIEEE International Conference on Control and Automation, ICCA
Volume2018-June
ISSN (Print)1948-3449
ISSN (Electronic)1948-3457

Other

Other14th IEEE International Conference on Control and Automation, ICCA 2018
CountryUnited States
CityAnchorage
Period6/12/186/15/18

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Baz Khallouf, I., & Naidu, D. S. (2018). Advanced Control Strategies for the Robotic Hand. In 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018 (pp. 698-703). [8444269] (IEEE International Conference on Control and Automation, ICCA; Vol. 2018-June). IEEE Computer Society. https://doi.org/10.1109/ICCA.2018.8444269