Open-loop control of class-2 tensegrity towers Conference Paper uri icon


  • This paper concerns open-loop control laws for reconfiguration of tensegrity towers. By postulating the control strategy as an equilibrium tracking control, very little control energy is required. Several different reconfiguration scenarios are possible for different string connectivity schemes. This includes unit radius control, twist angle control and truncation parameter control. All these control laws allow a nonuniform distribution of the control parameters among units. By defining a wave-like reference signal and injecting it in the open-loop control law, we demonstrate the concept of self-propelled tensegrity structure that are capable of locomotion.

name of conference

  • Smart Structures and Materials 2004: Modeling, Signal Processing, and Control

published proceedings

  • Proceedings of SPIE

author list (cited authors)

  • Masic, M., & Skelton, R. E.

citation count

  • 31

complete list of authors

  • Masic, Milenko||Skelton, Robert E

editor list (cited editors)

  • Smith, R. C.

publication date

  • July 2004