Tensegrity-membrane systems are deployable structures that can be utilized in space applications such as solar sails and radar systems. This work addresses the control design for four-bar tensegrity-membrane systems. The tendons act as actuators, and the system can be controlled by changing the rest-lengths of the tendons. Lagrange’s method is used to model the system, and the equations of motion are expressed as a set of differential-algebraic equations (DAE). For control design, the equations of motion of the system in the DAE form are converted into the form of second order ordinary differential equations based on coordinate partitioning and coordinate mapping. Since the number of control inputs is less than the number of state variables, these systems can be classified as underactuated nonlinear systems. The collocated partial feedback linearization (PFL) technique is implemented to design a nonlinear controller. Simulation results of the closed-loop system under initial perturbation are presented, and the performance of the controller is discussed.
- Dynamic Systems and Control Division
Active Control of Four-Bar Tensegrity-Membrane Systems
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Yang, S, & Sultan, C. "Active Control of Four-Bar Tensegrity-Membrane Systems." Proceedings of the ASME 2014 Dynamic Systems and Control Conference. Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems. San Antonio, Texas, USA. October 22–24, 2014. V001T01A001. ASME. https://doi.org/10.1115/DSCC2014-5886
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