Integrating structure, information architecture and control design: Application to tensegrity systems

A novel unified approach to jointly optimize structural design parameters, actuator and sensor precision, controller parameters is presented in this paper. The joint optimization problem posed as a covariance control problem, where feasibility achieved by bounding the of output well that signals. formulation used tensegrity system, initial prestress precisions, law are optimized. Tensegrity system dynamics models linearized about an equilibrium point for design, minimality ensured constraint projection. feedback loop assumed have full-order dynamic compensator with its characteristic matrices chosen variables. suboptimal solution non-convex found iterating over approximated convex through use convexifying potential function enables convergence stationary point. It shown linear dynamical can be formulated using Linear Matrix Inequalities (LMIs).