Active tensegrity: A control framework for an adaptive civil-engineering structure

This paper presents progress in the field of adaptive civil-engineering structures. Self-diagnosis, multi-objective shape control and reinforcement-learning processes are implemented within a control framework on an active tensegrity structure. Self-diagnosis extends active structural control to sit...

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Bibliographic Details
Published in:Computers & structures 2008-12, Vol.86 (23), p.2215-2223
Main Authors: Adam, Bernard, Smith, Ian F.C.
Format: Article
Language:English
Subjects:
Adaptive civil-engineering structures
Computational techniques
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Mathematical methods in physics
Physics
Solid mechanics
Space structures
Static elasticity (thermoelasticity...)
Structural and continuum mechanics
Tensegrity structures
Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...)
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Summary:This paper presents progress in the field of adaptive civil-engineering structures. Self-diagnosis, multi-objective shape control and reinforcement-learning processes are implemented within a control framework on an active tensegrity structure. Self-diagnosis extends active structural control to situations of partially defined loads. Multi-objective search is useful for computing commands that control shape while minimizing active strut stroke and stress, and maximizing stiffness. Reinforcement learning improves the control by memorizing, retrieving and adapting previous control events. The control framework is validated experimentally on an active tensegrity structure. This provides an example of an adaptive civil-engineering structure.
ISSN:0045-7949
1879-2243
DOI:10.1016/j.compstruc.2008.05.006