Modelling and control of class NSP tensegrity structures

Kanchanasaratool, Narongsak; Williamson, D.

doi:10.1080/00207170110070563

Cited by 60 publications

(43 citation statements)

References 8 publications

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“…Some of these structures governed by serviceability criteria are targeted as the primary focus of active structural control. Shape control of AS has been a research topic since the end of the 20th century (Kawaguchi et al, 1996;Skelton and Sultan, 1997;Sultan and Skelton, 1997;Djouadi et al, 1998;Kanchanasaratool and Williamson, 2002). Equipped with sensors and actuators, structures are able to control their shapes to adapt themselves to changing loads or environments.…”

Section: Introductionmentioning

confidence: 99%

Active structures integrated with wireless sensor and actuator networks: a bio-inspired control framework

Yang

Shen

Luo

2016

J. Zhejiang Univ. Sci. A

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Abstract:One of the main problems in controlling the shape of active structures (AS) is to determine the actuations that drive the structure from the current state to the target state. Model-based methods such as stochastic search require a known type of load and relatively long computational time, which limits the practical use of AS in civil engineering. Moreover, additive errors may be produced because of the discrepancy between analytic models and real structures. To overcome these limitations, this paper presents a compound system called WAS, which combines AS with a wireless sensor and actuator network (WSAN). A bio-inspired control framework imitating the activity of the nervous systems of animals is proposed for WAS. A typical example is tested for verification. In the example, a triangular tensegrity prism that aims to maintain its original height is integrated with a WSAN that consists of a central controller, three actuators, and three sensors. The result demonstrates the feasibility of the proposed concept and control framework in cases of unknown loads that include different types, distributions, magnitudes, and directions. The proposed control framework can also act as a supplementary means to improve the efficiency and accuracy of control frameworks based on a common stochastic search.

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Section: Introductionmentioning

confidence: 99%

Active structures integrated with wireless sensor and actuator networks: a bio-inspired control framework

Yang

Shen

Luo

2016

J. Zhejiang Univ. Sci. A

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“…Sultan [8] investigated tendon-control reconfiguration of simple tensegrity modules. Kanchanasaratool and Williamson [9] used actuated struts to perform feedback shape control of a general class of tensegrity structures. Wijdeven and De Jager [10] proposed an optimized reference trajectory for shape changes of an arbitrary tensegrity structure.…”

Section: Introductionmentioning

confidence: 99%

Configuration of control system for damage tolerance of a tensegrity bridge

Korkmaz

Ali

Smith

2012

Advanced Engineering Informatics

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Tensegrity structures are spatial, discrete and lightweight structures that are composed of struts in compression and pre-stressed cables. Stability is provided by the self-stress state between elements independently of external actions. Tensegrity structures are attractive due to their potential for deployability, ease of tuning and high precision control. Since tensegrity structures have highly coupled behavior, placement of actuators is a primary concern when designing active control systems. This study investigates the active control performance of cable members of a tensegrity bridge. The actuation efficiencies of cable members are evaluated through a multi-criteria approach. The configuration of the control system is thus identified through outranking candidate active members. A multi-objective damage tolerance strategy is then proposed and optimally directed control solutions are identified using stochastic search. Case studies for several damage scenarios are examined to validate results. The most efficient active cable configuration is compared with that needed for deployment. This study is divided into two phases. After the description of a 16m-span tensegrity bridge, optimally directed locations of active cables are determined in the first phase. Secondly, a procedure to ensure damage tolerance of the structure is proposed. The multi-objective self-repair procedure provides damage tolerance minimizing both maximum deflections in the structure and stresses in the structural members. Results indicate that the control strategy for deployment is a near-optimal solution for damage tolerance. The proposed methodology is applicable to a range of complex active structures.

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“…The control strategy is then extended to take into account additional robustness objectives [26] and to perform vibration control [27]. Kanchanasaratool and Williamson [28] used active struts to perform feedback shape-control for a simple tensegrity module.…”

Section: Introductionmentioning

confidence: 99%

Determining control strategies for damage tolerance of an active tensegrity structure

Korkmaz

Ali

Smith

2011

Engineering Structures

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Tensegrity structures are spatial, reticulate and lightweight systems composed of struts and cables. Stability is provided by a self-stress state between tensioned and compressed elements. Tensegrities have received interest among scientists and engineers in fields such as architecture, civil and aerospace engineering. Flexibility and ease of tuning make these systems attractive for controllable and adaptive structures. However, tensegrities are often prone to difficulties associated with meeting serviceability criteria and with providing adequate damage tolerance when used as civil engineering structures. This paper extends research on active control of tensegrity structures to study self-repair of a tensegrity pedestrian bridge that is damaged. Selfrepair is intended to meet safety and serviceability requirements in case of cable damage in the pedestrian bridge. Intelligent control methodologies that implement stochastic search with active member grouping are proposed. Case studies for several damage scenarios are presented to show the effectiveness of the methodology. Results from simulated damage scenarios show that self-repair can be successfully performed with a minimum number of active members leading to reductions in control complexity.

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Modelling and control of class NSP tensegrity structures

Cited by 60 publications

References 8 publications

Active structures integrated with wireless sensor and actuator networks: a bio-inspired control framework

Active structures integrated with wireless sensor and actuator networks: a bio-inspired control framework

Configuration of control system for damage tolerance of a tensegrity bridge

Determining control strategies for damage tolerance of an active tensegrity structure

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