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Modelling and Control of Class NSP Tensegrity Structure

Date

Authors

Kanchanasaratool, Narongsak

Williamson, Darrell

Publisher

Taylor & Francis Group

Abstract

The method of constrained particle dynamics is used to develop a dynamic model of order 12N for a general class of tensegrity structures consisting of N compression members (i.e. bars) and tensile members (i.e. cables). This model is then used as the basis for the design of a feedback control system which adjusts the lengths of the bars to regulate the shape of the structure with respect to a given equilibrium shape. A detailed design is provided for a 3-bar structure.

Keywords

Keywords: Approximation theory; Bars (metal); Compressive strength; Constraint theory; Electric cables; Feedback control; Mathematical models; Structural members; System stability; Tensile strength; Topology; Rigid body dynamics; Tensegrity structures; Control syst

URI

http://hdl.handle.net/1885/66944

Collections

ANU Research Publications

Source

International Journal of Control

Type

Journal article

DOI

10.1080/00207170110070563

Restricted until

2037-12-31

Downloads

File

Description

01_Kanchanasaratool_Modelling_and_Control_of_Class_2002.pdf (795.08 KB)

02_Kanchanasaratool_Modelling_and_Control_of_Class_2002.pdf (850.41 KB)

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