Modeling and Control of Tensegrity-Membrane Systems
| dc.contributor.author | Yang, Shu | en |
| dc.contributor.committeechair | Sultan, Cornel | en |
| dc.contributor.committeemember | Woolsey, Craig A. | en |
| dc.contributor.committeemember | Kapania, Rakesh K. | en |
| dc.contributor.committeemember | Farhood, Mazen H. | en |
| dc.contributor.department | Aerospace and Ocean Engineering | en |
| dc.date.accessioned | 2016-07-01T08:01:24Z | en |
| dc.date.available | 2016-07-01T08:01:24Z | en |
| dc.date.issued | 2016-06-30 | en |
| dc.description.abstract | Tensegrity-membrane systems are a class of new bar-tendon-membrane systems. Such novel systems can be treated as extensions of tensegrity structures and are generally lightweight and deployable. These two major advantages enable tensegrity-membrane systems to become one of the most promising candidates for lightweight space structures and gossamer spacecraft. In this dissertation, modeling and control of tensegrity-membrane systems is studied. A systematic method is developed to determine the equilibrium conditions of general tensegrity-membrane systems. Equilibrium conditions can be simplified when the systems are in symmetric configurations. For one-stage symmetric systems, analytical equilibrium conditions can be determined. Three mathematical models are developed to study the dynamics of tensegrity-membrane systems. Two mathematical models are developed based on the nonlinear finite element method. The other model is a control-oriented model, which is suitable for control design. Numerical analysis is conducted using these three models to study the mechanical properties of tensegrity-membrane systems. Two control strategies are developed to regulate the deployment process of tensegrity-membrane systems. The first control strategy is to deploy the system by a nonlinear adaptive controller and use a linear H∞ controller for rapid system stabilization. The second control strategy is to regulate the dynamics of tensegrity-membrane systems using a linear parameter-varying (LPV) controller during system deployment. A gridding method is employed to discretize the system operational region in order to carry out the LPV control synthesis. | en |
| dc.description.degree | Ph. D. | en |
| dc.format.medium | ETD | en |
| dc.identifier.other | vt_gsexam:7464 | en |
| dc.identifier.uri | http://hdl.handle.net/10919/71686 | en |
| dc.publisher | Virginia Tech | en |
| dc.rights | In Copyright | en |
| dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | en |
| dc.subject | tensegrity-membrane systems | en |
| dc.subject | nonlinear finite element model | en |
| dc.subject | control-oriented model | en |
| dc.subject | nonlinear adaptive control | en |
| dc.subject | linear parameter-varying control | en |
| dc.title | Modeling and Control of Tensegrity-Membrane Systems | en |
| dc.type | Dissertation | en |
| thesis.degree.discipline | Aerospace Engineering | en |
| thesis.degree.grantor | Virginia Polytechnic Institute and State University | en |
| thesis.degree.level | doctoral | en |
| thesis.degree.name | Ph. D. | en |
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