Integrating structure and control design using tensegrity paradigm

摘要

Tensegrity paradigm is used to jointly optimize structure parameters, information architecture (actuator/sensor precision) and control law to get the required system performance. A linearized tensegrity dynamics model is developed with control input as force density and structure parameter as the prestress value. The optimal prestress in the strings, the assumed free structure parameter, is solved to satisfy performance and control energy upper bound while solving for actuator/sensor precision and the control law. The covariance control problem is formulated in Linear Matrix Inequality (LMI) framework, and the controller design is provided for a full-order dynamic compensator. The sub-optimal solution of this non-convex system design problem is found by iterating over an approximated convex problem generated using a convexifying potential function.