Dynamic systems analysis and control based on a configuration manifold model (Q1962842)

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.