Active tensegrity: A control framework for an adaptive civil-engineering structure

This paper presents progress in the field of adaptive civil-engineering structures. Self-diagnosis, multi-objective shape control and reinforcement-learning processes are implemented within a control framework on an active tensegrity structure. Self-diagnosis extends active structural control to situations of partially defined loads. Multi-objective search is useful for computing commands that control shape while minimizing active strut stroke and stress, and maximizing stiffness. Reinforcement learning improves the control by memorizing, retrieving and adapting previous control events. The control framework is validated experimentally on an active tensegrity structure. This provides an example of an adaptive civil-engineering structure.

[1]  Bernard Crosnier,et al.  Static and dynamic robust control of tensegrity systems , 2004 .

[2]  Narongsak Kanchanasaratool,et al.  Modelling and control of class NSP tensegrity structures , 2002 .

[3]  R. Skelton,et al.  Equilibrium conditions of a tensegrity structure , 2003 .

[4]  Ian F. C. Smith,et al.  Developing intelligent tensegrity structures with stochastic search , 2002, Adv. Eng. Informatics.

[5]  Ian F. C. Smith,et al.  Tensegrity Active Control: Multiobjective Approach , 2007 .

[6]  Cornel Sultan,et al.  Deployment of tensegrity structures , 2003 .

[7]  Etienne Fest,et al.  UNE STRUCTURE ACTIVE DE TYPE TENSEGRITÉ , 2003 .

[8]  Ian F. C. Smith,et al.  Reinforcement Learning for Structural Control , 2008 .

[9]  B. Moussa,et al.  Effect of a Cable Rupture on Tensegrity Systems , 2002 .

[10]  B. Crosnier,et al.  Active Control of Tensegrity Systems , 1998 .

[11]  B. de Jager,et al.  Shape change of tensegrity structures: design and control , 2005, ACC.

[12]  Francesco Mondada,et al.  Evolutionary neurocontrollers for autonomous mobile robots , 1998, Neural Networks.

[13]  James T. P. Yao,et al.  CONCEPT OF STRUCTURAL CONTROL , 1972 .

[14]  Hiroshi Furuya,et al.  Shape and Stress Control Analysis of Prestressed Truss Structures , 1996 .

[15]  K. A. Lazopoulos,et al.  Stability of an elastic cytoskeletal tensegrity model , 2005 .

[16]  Ian F. C. Smith,et al.  Adjustable Tensegrity Structures , 2003 .

[17]  Ian F. C. Smith,et al.  Active Tensegrity Structure , 2004 .

[18]  Ian F. C. Smith,et al.  A direct stochastic algorithm for global search , 2003, Appl. Math. Comput..

[19]  Gianluca Tempesti,et al.  Bio-inspired computing tissues: towards machines that evolve, grow, and learn. , 2003, Bio Systems.

[20]  Ian F. C. Smith,et al.  Self-Diagnosis and Self-Repair of an Active Tensegrity Structure , 2007 .

[21]  Peter J. Denning,et al.  Fault Tolerant Operating Systems , 1976, CSUR.

[22]  Ian E. Smith,et al.  Intelligent Structures: A New Direction in Structural Control , 1998, AI in Structural Engineering.

[23]  C. Sultan.  Modeling, design, and control of tensegrity structures with applications , 1999 .

[24]  René Motro,et al.  Tensegrity: Structural Systems for the Future , 2003 .

[25]  John von Neumann,et al.  Theory Of Self Reproducing Automata , 1967 .

[26]  B. Domer,et al.  A study of two stochastic search methods for structural control , 2003 .

[27]  Robert E. Skelton,et al.  An introduction to the mechanics of tensegrity structures , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[28]  Feng Fu.  Structural behavior and design methods of Tensegrity domes , 2005 .

[29]  Ian F. C. Smith,et al.  Performance Enhancement of Active Structures During Service Lives , 2002 .