Nonlinear control of non-minimal tensegrity models

Author

Skelton, R. ; Mirats-Tur, J.M.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, CA, USA

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

6662

Lastpage

6667

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.

Keywords

Lyapunov methods; linear differential equations; nonlinear control systems; shape control; linear stable differential equation; multiLyapunov approach; nonlinear control; nonminimal tensegrity models; shape change; Aerodynamics; Control systems; Equations; Force control; Mathematical model; Nonlinear dynamical systems; Shape control; Springs; Vectors; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400915

Filename

5400915