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Proceedings Paper

Open-loop control of class-2 tensegrity towers
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Paper Abstract

This paper concerns open-loop control laws for reconfiguration of tensegrity towers. By postulating the control strategy as an equilibrium tracking control, very little control energy is required. Several different reconfiguration scenarios are possible for different string connectivity schemes. This includes unit radius control, twist angle control and truncation parameter control. All these control laws allow a nonuniform distribution of the control parameters among units. By defining a wave--like reference signal and injecting it in the open--loop control law, we demonstrate the concept of self--propelled tensegrity structure that are capable of locomotion.

Paper Details

Date Published: 26 July 2004
PDF: 11 pages
Proc. SPIE 5383, Smart Structures and Materials 2004: Modeling, Signal Processing, and Control, (26 July 2004); doi: 10.1117/12.540370
Show Author Affiliations
Milenko Masic, Univ. of California/San Diego (United States)
Robert E. Skelton, Univ. of California/San Diego (United States)


Published in SPIE Proceedings Vol. 5383:
Smart Structures and Materials 2004: Modeling, Signal Processing, and Control
Ralph C. Smith, Editor(s)

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