Advanced Control Strategies for the Robotic Hand

Thumbnail Image

Persistent link to this item

View Statistics

Journal Title

Journal ISSN

Volume Title


Advanced Control Strategies for the Robotic Hand

Published Date




Thesis or Dissertation


The research in this master’s thesis presents a new state-space representation of the nonlinear dynamics of two-link (thumb) and three-link (index) fingers of a robotic hand and an effective online solution of finite-time, nonlinear, closed-loop optimal control regulator and tracking problems using the state-dependent Riccati equations (SDRE). The technique involves the use of the solution of the algebraic Riccati equation for the in finite-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 closed form. The approximate technique is demonstrated by software simulation and hardware experimentation for the two-link and three-link fingers of the robotic hand.


University of Minnesota M.S.E.E. thesis. December 2017. Major: Electrical Engineering. Advisor: Desineni Naidu. 1 computer file (PDF); 67 pages.

Related to



Series/Report Number

Funding information

Isbn identifier

Doi identifier

Previously Published Citation

Suggested citation

Baz Khallouf, Ibrahim. (2017). Advanced Control Strategies for the Robotic Hand. Retrieved from the University Digital Conservancy,

Content distributed via the University Digital Conservancy may be subject to additional license and use restrictions applied by the depositor. By using these files, users agree to the Terms of Use. Materials in the UDC may contain content that is disturbing and/or harmful. For more information, please see our statement on harmful content in digital repositories.