Modelling and control of class NSP tensegrity structures

Narongsak Kanchanasaratool; Darrell Williamson

doi:10.1080/00207170110070563

Modelling and control of class NSP tensegrity structures

Narongsak Kanchanasaratool, Darrell Williamson^*

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

59 Citations (Scopus)

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.

Original language	English
Pages (from-to)	123-139
Number of pages	17
Journal	International Journal of Control
Volume	75
Issue number	2
DOIs	https://doi.org/10.1080/00207170110070563
Publication status	Published - 20 Jan 2002

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Modelling and control of class NSP tensegrity structures

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