Shape Control of Tensegrity Airfoils

AIAA SciTech 2016

James V Henrickson, Robert E Skelton, John Valasek

January 7, 2016

Outline

Introduction
Tensegrity Shape Control Law
Tensegrity Airfoil
Numerical Results
Conclusions and Future Work

Introduction

Introduction
Tensegrity Structures:
A conguration of axially-loaded members
(sticks and strings) stabilized by string tension
Minimum-mass optimization
Deployable / recongurable applications

Prior Work:
Tensegrity Systems [Skelton, de Oliveira 2009]
Tension-driven tensegrity shape control law
[Henrickson, Skelton, Valasek 2015]
Shape control of simple tensegrity structures
[Henrickson, Skelton, Valasek 2015]

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Introduction

Goal: Demonstrate shape control of 2D tensegrity airfoil structure

Key Issues:
Potentially high structure complexity
External disturbances
Approach:
Generate variable-complexity airfoil structure
Implement existing shape control law
Enforce structural stiness in control law
Benets:
Structure complexity trade-o analysis
Passive disturbance rejection

Tensegrity Shape Control Law

Tensegrity Shape Control Law

Denitions:
B = [b1 . . . b ],

S = [s1 . . . s ],

R = [r1 . . . r ]

N = [n1 . . . n2 ], W = [w1 . . . w2 ]
Connectivity Matrices:
[
]
[
B S R = N CbT

CsT

CrT

Internal Forces:
i =

force in string si
,
si

i =

force in bar bi
bi

mi = mass of bar bi

Vector Nomenclature

Tensegrity Shape Control Law

Class 1 Tensegrity Dynamics:

M + N K() = W
N
1 T
M
C mC
b + CrT mC
r
12 b
b
K C T Cs + C T C
s

where
1
1
B T B
l2 m
+ B T F CbT l2

12
2
F () = W S
Cs

Class 1 Structure

Tensegrity Shape Control Law

Shape Objective:
LN R extracts the current shape of the structure:
Yc (t) = LN (t)R

jh

Y describes error between current (Yc ) and desired (Y ) shape:

Y (t) = LN (t)R Y
Error Dynamics:
Y + Y + Y = 0
Express in terms of N:
R + LN R + (LN R Y ) = 0
LN
8

Tensegrity Shape Control Law

Substitute Class 1 Dynamics and Rearrange:
Solve linear programming problem:
=,
0
[
]
1
i = LW M R + LN R + (LN R Y ) ei
LN CbT (Cb M 1 Rei )
[
]
i =LN CsT (Cs M 1 Rei ) + CbT (Cb M 1 Rei )
where
[
= 1
[
= 1

]T
2

...

...

]T

Tensegrity Shape Control Law

Substitute Class 1 Dynamics and Rearrange:
Solve linear programming problem:
=,
0
[
]
1
i = LW M R + LN R + (LN R Y ) ei
LN CbT (Cb M 1 Rei )
[
]
i =LN CsT (Cs M 1 Rei ) + CbT (Cb M 1 Rei )
Prestress:

1
12
11

2 22 2 = 21
3
32
31
= ,

10

13 [ ]
1
,
23
3
33
0

Tensegrity Airfoil

Tensegrity Airfoil
Initial Structure Generation:
Generate structure with specied complexity that approximates
desired airfoil prole

12

Tensegrity Airfoil
Initial Structure Generation:
Generate structure with specied complexity that approximates
desired airfoil prole

13

Tensegrity Airfoil
Initial Structure Generation:
Generate structure with specied complexity that approximates
desired airfoil prole

14

Tensegrity Airfoil
Desired Shape Generation:
Use bar lengths from initial structure to nd node positions for
desired nal shape

15

Tensegrity Airfoil
Desired Shape Generation:
Use bar lengths from initial structure to nd node positions for
desired nal shape

16

Numerical Results

Numerical Results
Case 1: NACA 0110 to NACA 0118

18

Numerical Results
Case 1: NACA 0118 to NACA 0110

19

Numerical Results
Case 2: NACA 0110 to NACA 2412

20

Numerical Results
Case 2: NACA 2412 to NACA 0110

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Conclusions and Future Work

Conclusions and Future Work

Conclusions:
Nonlinear feedback law eectively controls shape of airfoil with
specied tensegrity complexity
Prestress and tensegrity topology can assign stiness
Increased tensegrity complexity reduces shape error
Can nd optimal complexity for minimum mass realization
Future Work:
Assess external disturbance rejection with various structural
stinesses
Implement mass minimization principles in structure generation
Move towards 3D wing structure

23

Questions?

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