Selection of prestress for optimal dynamic/control performance of tensegrity structures
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This paper concerns prestress optimization of a tensegrity structure for its optimal LQR performance. A linearized dynamic model of the structure is derived in which the force-density variables that parameterize the prestress of the structure appear linearly. A feasible region for these parameters is defined in terms of the extreme directions of the prestress cone. A numerical method for computing this basis for a structure prestress cone is proposed. The problem is solved using a gradient method that provides a monotonic decrease of the objective function inside the feasible region. A numerical example of a cantilevered planar tensegrity beam is shown. 2005 Elsevier Ltd. All rights reserved.
International Journal of Solids and Structures
author list (cited authors)
Masic, M., & Skelton, R. E.
complete list of authors
Masic, Milenko||Skelton, Robert E