Dynamic systems analysis and control based on a configuration manifold model

DOI10.1023/A:1008374216291MaRDI QIDQ1962842zbMATH OpenFDO

Authors Edward Y. L. Gu

Publication date 28 June 2001

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/A:1008374216291

zbMATH Keywords

adaptive control strategyconfiguration manifold modeldifferential manifoldsdynamic systemsimmersionskinematics of dynamic systemRiemannian metricsRRP-type three joint robot armsmooth embeddingtopology

Mathematics Subject Classification ID

Control problems involving ordinary differential equations (34H05) Dynamical systems in classical and celestial mechanics (37N05) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

Review text

The author presents a configuration manifold model which he uses for the analysis of dynamic systems and for the development of control algorithms. First, the author gives an overview of the fundamental theory of surfaces and differential manifolds endowed with Riemannian metrics, and then introduces the concepts of configuration manifolds (C-manifolds) and their immersions and embedding, and shows how to apply them to dynamic system modeling. In particular, an explicit form of smooth embedding is derived for a given dynamic system with its C-manifold. With topology being viewed as the structure of geometry, the author demonstrates that the kinematics of dynamic system determines its topology. The theory is further extended to develop an adaptive control strategy, which has been illustrated by a simulation study of RRP-type three joint robot arm.

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Cited in

(3)

• Mathematical modeling and analysis for robotic control
• Immersion and invariance adaptive velocity observer for a class of Euler-Lagrange mechanical systems
• Model reference adaptive control of a nonsmooth dynamical system

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