Dynamics and control of clustered tensegrity systems

Shuo Ma, Muhao Chen, Robert E. Skelton

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


This paper presents the formulations of nonlinear and linearized statics, dynamics, and control for any clustered tensegrity system (CTS). Based on the Lagrangian method and FEM assumptions, the nonlinear clustered tensegrity dynamics with and without constraints are first derived. It is shown that the traditional tensegrity system (TTS), whose node to node strings are individual ones, yields to be a particular case of the CTS. Then, equilibrium equations of the CTS in three standard forms (in terms of nodal coordinate, force density, and force vector) and the compatibility equation are given. Moreover, the linearized dynamics and modal analysis of the CTS with and without constraints are also derived. We also present a nonlinear shape control law for the control of any CTS. The control turns out to be a linear algebra problem in terms of the control variable, which is the force densities in the strings. The statics, dynamics, and control examples are carefully selected to demonstrate the developed principles. The presented approaches can boost the comprehensive studies of the statics, dynamics, and control for any CTS or TTS, as well as promote the integration of structure and control design.

Original languageEnglish
Article number114391
JournalEngineering Structures
StatePublished - Aug 1 2022

Bibliographical note

Funding Information:
The first author is grateful for the financial support from the Foundation of Key Laboratory of Space Structures of Zhejiang Province (No. 202102 ).

Publisher Copyright:
© 2022 Elsevier Ltd


  • Clustered tensegrity
  • Finite element method
  • Integrating structure and control design
  • Nonlinear control
  • Nonlinear dynamics

ASJC Scopus subject areas

  • Civil and Structural Engineering


Dive into the research topics of 'Dynamics and control of clustered tensegrity systems'. Together they form a unique fingerprint.

Cite this