Active Control of Tensegrity Structures Based on Fast Model Predictive Control Method
Active vibration control of tensegrity structures is often challenging due to geometric nonlinearity,assembly uncertainties of connections and actuator saturation of controllers.In order to solve these technical problems,a fast model predictive control(FMPC)strategy was implemented in this paper to effectively reduce structural vibration.Specifically,the explicit expression based on the Newmark method avoided the calculation of matrix exponents.Also the expression carried out one online and two offline transient analysis for each sampling moment on the structure,in order to obtain the optimal control input from the second-order dynamic equation without forming an extended state-space equation.Finally,the FMPC method was applied to the structure of large six-cell standard tensegrity beam and six-cell cluster tensegrity beam.The example results show that the proposed method is effective and reliable in the application of tensegrity structure,which shows the prospect of the proposed method in analyzing and solving practical engineering problems.
active vibration controlactuator placementtensegrity structurefast model predictive control(FMPC)