Nonlinear control of non-minimal tensegrity models

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 cre...

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Bibliographic Details
Main Authors: Skelton, R., Mirats-Tur, J.M.
Format: Conference Proceeding
Language:English
Subjects:
Aerodynamics
Control systems
Equations
Force control
Mathematical model
Nonlinear dynamical systems
Shape control
Springs
Vectors
Vehicle dynamics
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Summary: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.
ISSN:0191-2216
DOI:10.1109/CDC.2009.5400915