Modeling and Control of Tensegrity-Membrane Systems

dc.contributor.authorYang, Shuen
dc.contributor.committeechairSultan, Cornelen
dc.contributor.committeememberWoolsey, Craig A.en
dc.contributor.committeememberKapania, Rakesh K.en
dc.contributor.committeememberFarhood, Mazen H.en
dc.contributor.departmentAerospace and Ocean Engineeringen
dc.description.abstractTensegrity-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.degreePh. D.en
dc.publisherVirginia Techen
dc.rightsIn Copyrighten
dc.subjecttensegrity-membrane systemsen
dc.subjectnonlinear finite element modelen
dc.subjectcontrol-oriented modelen
dc.subjectnonlinear adaptive controlen
dc.subjectlinear parameter-varying controlen
dc.titleModeling and Control of Tensegrity-Membrane Systemsen
dc.typeDissertationen Engineeringen Polytechnic Institute and State Universityen D.en
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