Sensor/actuator selection for tensegrity structures

In this paper the sensor/actuator selection for the control of tensegrity structures is investigated from a system design approach. Two methods with different levels of complexity are proposed to find the necessary precision for each sensor/actuator to satisfy specific input/output performance constraints. To determine the minimum number and the locations of the sensors and actuators, a heuristic algorithm iteratively deletes the sensor or actuator which requires the least precision until loss of feasibility. This algorithm results simultaneously the necessary number, the location and precision for each sensor/actuator. A tensegrity structure example has been solved as an application of the proposed algorithms