Advanced Control Strategies for the Robotic Hand

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.