Model Predictive Controller for a Planar Tensegrity Mechanism with Decoupled Position and Stiffness Control

Precise trajectory tracking and stiffness modulation for tensegrity mechanisms are a challenging topic that can open new horizon of applications for this type of systems. This paper presents a new control strategy of tensegrity mechanisms using a model predictive controller (MPC). Based on a dynamic model, the proposed approach allows to track trajectories with low and relatively high dynamics as well as to modulate the mechanism stiffness by changing only the controller’s parameters. Trajectories of 30 s, 5 s and 1 s are performed showing a trajectory tracking improvement of up to \(64\%\) in the root mean square error when compared to literature results.

[1]  Chandana Paul,et al.  Design and control of tensegrity robots for locomotion , 2006, IEEE Transactions on Robotics.

[2]  Ian F. C. Smith,et al.  Deployment and Shape Change of a Tensegrity Structure Using Path-Planning and Feedback Control , 2018, Front. Built Environ..

[3]  Atil Iscen,et al.  Learning Tensegrity Locomotion Using Open-Loop Control Signals and Coevolutionary Algorithms , 2015, Artificial Life.

[4]  Vytas SunSpiral,et al.  Super Ball Bot - Structures for Planetary Landing and Exploration, NIAC Phase 2 Final Report , 2015 .

[5]  Philippe Poignet,et al.  From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism , 2017 .

[6]  Jan M. Maciejowski,et al.  Predictive control : with constraints , 2002 .

[7]  Maurício C. de Oliveira,et al.  Modelling and control of non-minimal non-linear realisations of tensegrity systems , 2009, Int. J. Control.

[8]  Vytas SunSpiral,et al.  Morphological design for controlled tensegrity quadruped locomotion , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[9]  Matthieu Furet,et al.  Kinetostatic analysis and actuation strategy of a planar tensegrity 2-X manipulator , 2019 .

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

[11]  Tobias Bruckmann,et al.  A Versatile Tension Distribution Algorithm for $n$ -DOF Parallel Robots Driven by $n+2$ Cables , 2015, IEEE Transactions on Robotics.

[12]  Alice M. Agogino,et al.  Model-Predictive Control with Reference Input Tracking for Tensegrity Spine Robots , 2018, ArXiv.

[13]  Milenko Masic,et al.  Open-loop control of class-2 tensegrity towers , 2004, SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

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