Baz Khallouf, Ibrahim2020-02-262020-02-262017-12https://hdl.handle.net/11299/211704University of Minnesota M.S.E.E. thesis. December 2017. Major: Electrical Engineering. Advisor: Desineni Naidu. 1 computer file (PDF); 67 pages.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.enControl SystemsNonlinear SystemsOptimal ControlProsthetic HandRoboticsThesis or Dissertation