Decentralized control of stable-element tensegrity plates
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Many papers have mentioned deployability as the advantage of the tensegrity structures. This paper proposes an open-loop control law for the deployment of a plate-like structure. The control law is decentralized so that each stable unit is given the same control commands. The second contribution of this paper is the design of a deployable tensegrity plate composed of stable units connected in a special manner that yields a stable overall system without control. Very few structures are stable in the absence of control and also controllable to a different equilibrium.
Advances in the Astronautical Sciences
author list (cited authors)
Masic, M., & Skelton, R. E.
complete list of authors