Title :
Nonlinear control of non-minimal tensegrity models
Author :
Skelton, R. ; Mirats-Tur, J.M.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, CA, USA
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.
Keywords :
Lyapunov methods; linear differential equations; nonlinear control systems; shape control; linear stable differential equation; multiLyapunov approach; nonlinear control; nonminimal tensegrity models; shape change; Aerodynamics; Control systems; Equations; Force control; Mathematical model; Nonlinear dynamical systems; Shape control; Springs; Vectors; Vehicle dynamics;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400915
