Selection of prestress for optimal dynamic/control performance of tensegrity structures Academic Article uri icon


  • 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.

published proceedings

  • International Journal of Solids and Structures

author list (cited authors)

  • Masic, M., & Skelton, R. E.

citation count

  • 26

complete list of authors

  • Masic, Milenko||Skelton, Robert E

publication date

  • April 2006