Integrated Structure and Control Design of Modular Tensegrities

This paper demonstrates a method for prestress optimization of tensegrity structures resulting in their optimal mixed dynamic and control performance. Prestress of a structure is parameterized using force-density variables that appear linearly in its linearized dynamic model. A feasible region for these parameters is defined in terms of the extreme directions of the prestress cone. A numerical method is proposed for computing this particular basis for the structure prestress cone. The problem is solved using a gradient method based on the sensitivity analysis. A numerical example of a cantilevered planar tensegrity beam is shown.