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Active control of tensegrity structures and its applications using Linear Quadratic Regulator algorithms

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dc.contributor.advisor Jerome J. Connor. en_US
dc.contributor.author Nelson, Karen E. (Karen Elizabeth), M. Eng. Massachusetts Institute of Technology en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Civil and Environmental Engineering. en_US
dc.date.accessioned 2011-11-01T19:51:51Z
dc.date.available 2011-11-01T19:51:51Z
dc.date.copyright 2011 en_US
dc.date.issued 2011 en_US
dc.identifier.uri http://hdl.handle.net/1721.1/66845
dc.description Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Civil and Environmental Engineering, 2011. en_US
dc.description Cataloged from PDF version of thesis. en_US
dc.description Includes bibliographical references (p. 61-62). en_US
dc.description.abstract The concept of responsive architecture has inspired the idea structures which are adaptable and change in order to better fit the user. This idea can be extended to structural engineering with the implementing of structures which change to better take on their external loading. The following text explores the utilization of active control for tensegrity systems in order to achieve an adaptable structure. To start, a background of the physical characteristics of these structures is given along with the methods which are used to find their form. Next, the different methods which have been previously used to achieve active control in tensegrity are reviewed as well as the objectives they intended to achieve. From there, the Linear Quadratic Regulator (LQR) algorithm is introduced as a possible method to be used in designing active control. A planar tensegrity beam is described, whose form was found by the force density method. A simulation is then conducted, which applies the LQR algorithm to this structure for the purposes of active control. This simulation served both to demonstrate the force density and LQR methods, as well as to study how different control parameters and actuator placements effects the efficiency of the control. This text concludes with a discussion of the results of this simulation. en_US
dc.description.statementofresponsibility by Karen E. Nelson. en_US
dc.format.extent 88 p. en_US
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.rights.uri http://dspace.mit.edu/handle/1721.1/7582 en_US
dc.subject Civil and Environmental Engineering. en_US
dc.title Active control of tensegrity structures and its applications using Linear Quadratic Regulator algorithms en_US
dc.type Thesis en_US
dc.description.degree M.Eng. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Civil and Environmental Engineering. en_US
dc.identifier.oclc 757938032 en_US


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