Abstract
Controlled deployment of a foldable tensegrity-membrane system is investigated in this article. A membrane folding technique referred to as the spiral folding pattern is applied to the attached membrane to achieve compact folded shapes for the system. The foldable tensegrity-membrane system experiences transitions between two system configurations (i.e., the tensegrity configuration and the tensegrity-membrane configuration) due to the variation of membrane loading states during system deployment. A closed-loop control strategy consisting of two linear parameter-varying (LPV) controllers is designed based on control-oriented models to regulate system dynamics. A nonlinear finite element model is used to examine the control performance. Senor noise is considered in another nonlinear finite element simulation to examine the robustness of the designed controllers.
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