Integrating structure, information architecture and control design: Application to tensegrity systems

Goyal, Raman; Majji, Manoranjan; Skelton, Robert E.

doi:10.1016/j.ymssp.2021.107913

Cited by 10 publications

(4 citation statements)

References 40 publications

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“…These extensions should be straightforward due to the same underlying framework of Lagrangian mechanics. Finally, the linear dependence on cables' force densities (29) can be exploited for the design of control schemes [11], aiming to integrate structure and control design in the same vein as [50].…”

Section: Discussionmentioning

confidence: 99%

A Unified Framework for Dynamic Analysis of Tensegrity Structures with Arbitrary Rigid Bodies and Rigid Bars

Luo¹,

Wu²,

Xu³

2022

Preprint

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This paper develops a unified framework to study the dynamics of tensegrity systems with any arbitrary rigid bodies and rigid bars. The natural coordinates are adopted as a completely non-minimal modeling approach to describe both rigid bodies and rigid bars in terms of different combinations of basic points and base vectors. Various coordinate combinations are then unified into polymorphic expressions that succinctly encompass Class-1-to-k tensegrities. Then, the Lagranged'Alembert principle is employed to derive the dynamic equation, which has a constant mass matrix and is free from trigonometric functions as well as centrifugal and Coriolis terms. For numerical analysis of nonlinear dynamics, a modified symplectic integration scheme is derived, accommodating non-conservative forces and boundary conditions. Additionally, formulations for statics and linearized dynamics around static equilibrium states are derived to help determine cable actuation values and calculate natural frequencies and mode shapes, which are commonly needed for structural analyses. Numerical examples are given to demonstrate the proposed approach's abilities in modeling tensegrity structures composed of Class-1-to-k modules and conducting dynamic simulations with complex conditions, including slack cables, gravity loads, seismic grounds, and cable-based deployments. Finally, two novel designs of tensegrity structures exemplify new ways to create multi-functional composite structures.

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Section: Discussionmentioning

confidence: 99%

A Unified Framework for Dynamic Analysis of Tensegrity Structures with Arbitrary Rigid Bodies and Rigid Bars

Luo¹,

Wu²,

Xu³

2022

Preprint

View full text Add to dashboard Cite

show abstract

“…( 22) is not an LMI. We need to perform congruence transformation and change of variables to convert them to LMIs [11], [12]. Let us define and partition the matrix as:…”

Section: A Adversary With Access To Communication Channelsmentioning

confidence: 99%

“…( 24) and ( 25) under an appropriate change of variables leads to a set of LMIs eqs. (11) and (12) that do not depend on S or U . Once the X, Y are obtained, matrices S and U need to be constructed using:…”

Section: A Adversary With Access To Communication Channelsmentioning

confidence: 99%

Co-Design of Watermarking and Robust Control for Security in Cyber-Physical Systems

Goyal

Somarakis

Noorani

et al. 2022

2022 IEEE 61st Conference on Decision and Control (CDC)

Self Cite

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This paper introduces a novel approach to concurrently design dynamic controllers and correlated differential privacy noise in dynamic control systems. An increase in privacy noise increases the system's privacy but adversely affects the system's performance. Our approach optimizes the noise distribution while shaping closed-loop system dynamics such that the privacy noise has the least impact on system performance and the most effect on system privacy. We further add privacy noise to both control input and system output to privatize the system's state for an adversary with access to both communication channels and direct output measurements. The study also suggests tailored privacy bounds for different states, providing a comprehensive framework for jointly optimizing system performance and privacy in the context of differential privacy.

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“…On the other hand, for the sake that tensegrities are fexible systems, the mitigation of structural dynamic responses utilizing relevant active control techniques becomes an ongoing topic in the design of real tensegrities [37][38][39][40][41][42][43][44][45]. Several works have been reported on numerical simulation of small and simple tensegrity models.…”

Section: Introductionmentioning

confidence: 99%

Optimal Active Vibration Control of Tensegrity Structures Using Fast Model Predictive Control Strategy

Feng,

Fan,

Peng

et al. 2023

Structural Control and Health Monitoring

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Active vibration control of tensegrity structures is often challenging due to the geometrical nonlinearity, assemblage uncertainties of connections, and actuator saturation of controllers. To tackle these technical difficulties, a fast model predictive control (FMPC) strategy is herein implemented to effectively mitigate the structural vibration. Specifically, based on the explicit expression form of the Newmark- β method, the computation of the matrix exponential is avoided and replaced by one online and two offline transient analyses at each sampling instant on the structure, and the optimal control input is attainted from the second-order dynamic equation without forming an expanded state-space equation. Meanwhile, the artificial fish swarm algorithm (AFSA) is embedded to automatically derive optimal arrangement of actuators with the selection of a reasonable objective function. Two illustrative examples, including two standard and clustered tensegrity beams and a clustered tensegrity tower, have been fully investigated. The outcomes from illustrative examples prove the effectiveness and feasibility of the proposed method in optimal active vibration control of tensegrity structures, implying a promising prospect of the investigated approach in analyzing and solving relevant engineering problems.

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Integrating structure, information architecture and control design: Application to tensegrity systems

Cited by 10 publications

References 40 publications

A Unified Framework for Dynamic Analysis of Tensegrity Structures with Arbitrary Rigid Bodies and Rigid Bars

A Unified Framework for Dynamic Analysis of Tensegrity Structures with Arbitrary Rigid Bodies and Rigid Bars

Co-Design of Watermarking and Robust Control for Security in Cyber-Physical Systems

Optimal Active Vibration Control of Tensegrity Structures Using Fast Model Predictive Control Strategy

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