Integrated design of controllable tensegrity structures Academic Article uri icon


  • Tensegrity structures represent a special class of spatial structures, having a continuous network of members in tension and a discontinuous network of members in compression. These members can serve simultaneously as sensors, actuators, and load carrying elements. Hence, structure and control design must be carried out together. This paper illustrates the use of tensegrity structures as adaptive structures. The paper addresses static design problems, presents the mathematical structure of the linear dynamic models, deals with the actuator locations, and integrates structure and controller design for output variance control problems. Through integration of static design, actuator selection and controller design, better performances are achieved compared with the case in which these tasks are carried out separately.

author list (cited authors)

  • Sultan, C., & Skelton, R. E.

publication date

  • December 1997