Nonlinear control of non-minimal tensegrity models

R. Skelton; J. M. Mirats-Tur

doi:10.1117/12.819375

9 April 2009 Nonlinear control of non-minimal tensegrity models

R. Skelton, J. M. Mirats-Tur

Author Affiliations +

Proceedings Volume 7286, Modeling, Signal Processing, and Control for Smart Structures 2009; 72860E (2009) https://doi.org/10.1117/12.819375
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2009, San Diego, California, United States

Abstract

The simplest form for the dynamics of constrained tensegrity system is a non-minimal realization. This paper gives a control law to force the tensegrity system to modify its shape to a pre-specified shape, using the smallest control force. The approach is similar to a multi-Lyapunov approach. We create a vector of Lyapunov functions, chosen to force the desired shape change, as well as other performance properties that may be selected. This vector is forced by the control system to satisfy a linear stable differential equation. Some tensegrity examples illustrate the ideas.

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R. Skelton and J. M. Mirats-Tur "Nonlinear control of non-minimal tensegrity models", Proc. SPIE 7286, Modeling, Signal Processing, and Control for Smart Structures 2009, 72860E (9 April 2009); https://doi.org/10.1117/12.819375

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