Kernel-Orthogonal Control of Tensegrity Systems

This article proposes a novel control method, named kernel-orthogonal control, to conduct nonlinear control for tensegrity systems. Constraints on active control of tensegrity systems associated with the properties of system control matrices and prestressability conditions are investigated. The kernel-orthogonal control method is developed under these control design constraints, aiming to make fully actuated tensegrity systems track desired trajectories without violating system prestressability conditions. Numerical simulations are conducted for various tensegrity systems to verify the control design constraints and to examine the performance of the proposed control method.