Nonlinear Control of Non-minimal Tensegrity models Conference Paper

abstract

• 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 IEEE.

name of conference

• Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference

authors

• Skelton, Robert

published proceedings

• Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference

author list (cited authors)

• Skelton, R., & Mirats-Tur, J. M.

citation count

• 2

complete list of authors

• Skelton, R||Mirats-Tur, JM

publication date

• December 2009

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE Conference on Decision and Control  Journal

Digital Object Identifier (DOI)

• 10.1109/cdc.2009.5400915

International Standard Book Number (ISBN) 13

• 9781424438716

start page

• 6662

end page

• 6667

URL

• http://dx.doi.org/10.1109/cdc.2009.5400915