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|
|Number of pages||6|
|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
|Name||IEEE International Conference on Control and Automation, ICCA|
|Other||14th IEEE International Conference on Control and Automation, ICCA 2018|
|Period||6/12/18 → 6/15/18|
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