Super twisting control for tensegrity systems - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2022

Super twisting control for tensegrity systems

Résumé

This paper reports a super twisting sliding mode control strategy applied to a planar tensegrity system. The main objective is to drive the system to a desired angular position while the tensions in the cables are kept within a predetermined range to preserve the prestressed condition characterizing tensegrity systems. Stability conditions for the proposed control strategy are established and closed-loop stability is demonstrated through numerical simulations and experimental validations. In addition, the stiffness variation of the system has been experimentally performed using the same control strategy. Moreover, robustness to external perturbations using the proposed control strategy has been evaluated.
Fichier principal
Vignette du fichier
Super twisting control for tensegrity systems.pdf (933.53 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04565814 , version 1 (02-05-2024)

Identifiants

  • HAL Id : hal-04565814 , version 1

Citer

José Angel Alvarez Duarte, Juan Manuel Jacinto-Villegas, Adriana Herlinda Vilchis-Gonzalez, Salih Abdelaziz, Juan Carlos Avila Vilchis, et al.. Super twisting control for tensegrity systems. SYROCO 2022 - 13th IFAC Symposium on Robot Control, Oct 2022, Matsumoto, Japan. ⟨hal-04565814⟩
0 Consultations
0 Téléchargements

Partager

Gmail Mastodon Facebook X LinkedIn More