Integrating mass and control energy optimization for tensegrity structure

This paper presents a tensegrity structure optimization approach which minimizes the control energy and structure material volume at the same time. Firstly we formulate the dynamic model for Class 1 and Class 2 systems, and based on the nonlinear model we derive the linearized model for Class 1 system. Then using this model we solve the Information Architecture problem for different complexity structures. Based on multiple constrains, an integrated algorithm is presented to optimize the mass, price and control energy simultaneously. At last we use T-Bar structure as an example, and it shows us that the proposed algorithm works well.