Modelling and control of non-minimal non-linear realisations of tensegrity systems

Abstract

The dynamics of tensegrity systems have their simplest mathematical form when the realisation is non-minimal. In this article, the simplicity of this structure is exploited to design controls. A Lyapunov-based approach creates a non-linear feedback control law exploring the tools of linear algebra due to the linearity of the model on a new set of transformed control variables. Explicit solutions are given for different choices of norm minimisation of the instantaneous control. The theory is illustrated through numerical simulations of simple tensegrity structures.

Keywords:

• tensegrity structures
• nonlinear control
• optimisation

Notes

Note

1. Or the state, as a matter of fact, which can always be chosen to be the configuration vector augmented by the configuration velocities.