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Proceedings Paper

Nonlinear control of non-minimal tensegrity models
Author(s): R. Skelton; J. M. Mirats-Tur
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Paper 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.

Paper Details

Date Published: 9 April 2009
PDF: 6 pages
Proc. SPIE 7286, Modeling, Signal Processing, and Control for Smart Structures 2009, 72860E (9 April 2009); doi: 10.1117/12.819375
Show Author Affiliations
R. Skelton, Univ. of California, San Diego (United States)
J. M. Mirats-Tur, Consejo Superior de Investigaciones Científicas (Spain)
Univ. Politècnica de Catalunya (Spain)

Published in SPIE Proceedings Vol. 7286:
Modeling, Signal Processing, and Control for Smart Structures 2009
Douglas K. Lindner, Editor(s)

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