Advanced Control Strategies for the Robotic Hand

Ibrahim Baz Khallouf; Desineni S Naidu

doi:10.1109/ICCA.2018.8444269

Advanced Control Strategies for the Robotic Hand

Ibrahim Baz Khallouf
, Desineni S Naidu

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

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	https://doi.org/10.1109/ICCA.2018.8444269
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.

Publisher link

10.1109/ICCA.2018.8444269

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Advanced Control Strategies for the Robotic Hand. / Baz Khallouf, Ibrahim; Naidu, Desineni S.
2018 IEEE 14th International Conference on Control and Automation, ICCA 2018. IEEE Computer Society, 2018. p. 698-703 8444269 (IEEE International Conference on Control and Automation, ICCA; Vol. 2018-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Baz Khallouf, I & Naidu, DS 2018, Advanced Control Strategies for the Robotic Hand. in 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018., 8444269, IEEE International Conference on Control and Automation, ICCA, vol. 2018-June, IEEE Computer Society, pp. 698-703, 14th IEEE International Conference on Control and Automation, ICCA 2018, Anchorage, United States, 6/12/18. https://doi.org/10.1109/ICCA.2018.8444269

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AB - 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.

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Advanced Control Strategies for the Robotic Hand

Abstract

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