It is believed that structures and actuation systems should be tightly integrated together in the future to create lightweight dynamic machines. This requires actuators to be distributed through the structure. A tensegrity structure is a very promising candidate for this future integration due to its potentially excellent stiffness and strength-to-weight ratio, and the inherent advantage of being a multi-element structure into which actuators can be embedded. In this paper, an antagonistic multi-axis control of a tensegrity structure is achieved, using a dead band controller. The controller is studied by the describing function technique, and a condition to guarantee stability is derived. The stability condition is illustrated with simulation and experimental results, and is used as a general rule to achieve stable control of the structure.
|Publication status||Published - Apr 2017|
|Event||The 9th International Conference on Fluid Power Transmission and Control - Zhejiang University, Hangzhou, China|
Duration: 11 Apr 2017 → 13 Apr 2017
|Conference||The 9th International Conference on Fluid Power Transmission and Control|
|Period||11/04/17 → 13/04/17|
Lai, G., & Plummer, A. (2017). Relay Control of a Morphing Tensegrity Structure with Distributed Pneumatic Actuation. Paper presented at The 9th International Conference on Fluid Power Transmission and Control, Hangzhou, China.