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Optimal robot‐environment interaction using inverse differential Riccati equation

An optimal robot‐environment interaction is designed by transforming an environment model into an optimal control problem. In the optimal control, the inverse differential Riccati equation is introduced as a fixed‐end‐point closed‐loop optimal control over a specific time interval. Then, the environment model, including interaction force, is formulated in a state equation, and the optimal trajectory is determined by minimizing a cost function. Position control is proposed, and the stability of the closed‐loop system is investigated using the Lyapunov direct method. Finally, theoretical developments are verified through numerical simulation.