Nonlinear control of non-minimal tensegrity models Conference Paper uri icon


  • The simplest form for the dynamics of constrained tensegrity system is a non-minimal realization. This paper gives a control law to force the tensegrity system to modify its shape to a pre-specified shape, using the smallest control force. The approach is similar to a multi-Lyapunov approach. We create a vector of Lyapunov functions, chosen to force the desired shape change, as well as other performance properties that may be selected. This vector is forced by the control system to satisfy a linear stable differential equation. Some tensegrity examples illustrate the ideas. 2009 SPIE.

name of conference

  • Modeling, Signal Processing, and Control for Smart Structures 2009

published proceedings

  • Proceedings of SPIE

author list (cited authors)

  • Skelton, R., & Mirats-Tur, J. M.

citation count

  • 0

complete list of authors

  • Skelton, R||Mirats-Tur, JM

editor list (cited editors)

  • Lindner, D. K.

publication date

  • March 2009