Tensegrity Flight Simulator Academic Article uri icon

abstract

  • In this paper we propose a new motion simulator based on a tendon-controlled tensegrity structure. The simulator is equipped with a nonlinear controller that achieves robust tracking of desired motions. The controller parameters can be tuned to guarantee tracking to within a prespecified tolerance and with a prescribed rate of exponential convergence. The design is verified through numerical simulations for specific longitudinal motions of a symmetric aircraft.

author list (cited authors)

  • Sultan, C., Corless, M., & Skelton, R. E.

citation count

  • 72

publication date

  • November 2000