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Simultaneous Optimization of Structure and Control of Smart Tensegrity Structures

Department of Mechanical Engineering,Machine Design Section Indian Institute of Technology Madras, Chennai-600 036, India

^* To whom correspondence should be addressed.

	Abstract

A Multidisciplinary design optimization of a smart tensegrity structure using genetic algorithm is considered as a mixed discrete-continuous objective programing problem. Robust H₂ and H controller norms are considered as the objective. Performance of the H₂ and H controllers for vibration control of the tensegrity structures are compared. A nested optimization strategy is used. The optimal gain matrix of the controller and estimator is found by solution of the corresponding Ricatti equations in the inner iteration as the first step. The optimal structural parameters are found in the outer iteration as the next step. Design variables include twist angle and the locations of the actuator, which are either discrete or continuous. The force generated by the electro-mechanical coupling of the piezoelectric actuator is used in the formulation. The tensegrity structure of class 1, comprising of two modules with piezoelectric actuators, is optimized.

Key Words: tensegrity structures, simultaneous optimization, Genetic algorithm, vibration control, piezoelectric actuator, H₂ and H controller.

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