Shape change of tensegrity structures : design and control

J.J.M. Wijdeven, van de, A.G. Jager, de

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

38 Citations (Scopus)
91 Downloads (Pure)


This paper focusses on shape changes of tensegritystructures. An optimization method is developed for design of a reference trajectory for shape changes of an arbitrary tensegrity structure. By defining an objective and constraints related to the shape change, constrained optimization is used to determine the reference trajectory. To improve suppression of vibrations during the shape change, an H2 controller is used in a feedback loop. To illustrate the use of the optimization method and selected control strategy, a shape change is simulated and the results are presented.
Original languageEnglish
Title of host publicationProceedings of the 2005 American Control Conference (Portland OR, USA, June 8-10, 2005), vol.3
Place of PublicationPiscataway NJ, USA
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)0-7803-9098-9
Publication statusPublished - 2005

Fingerprint Dive into the research topics of 'Shape change of tensegrity structures : design and control'. Together they form a unique fingerprint.

Cite this