Contention free control of over-constrained variable geometry trusses

摘要

A unified velocity analysis approach for Variable Geometry Trusses (VGTs) is employed to develop a direct strategy for actuator contention avoidance in over-constrained architectures. Techniques of matrix theory are used to meet all boundary and structural constraints simultancously. The mull-space of a square matrix of dimension equal to the number of actuators forms a basis for contention-free trajectories.