Analysis of Optimal Deployment Strategy for Large Deployable Tensegrity Space Antennas

This study introduces an integrated approach that merges the design of structure and control to study the deployment strategies for tensegrity structures, particularly in the context of space antennas. First, we establish a nonlinear shape control law for clustered tensegrity structures, the solution turns out to solve a constraint linear algebra equation. Leveraging the symmetric nature of the antenna structure, we designate active actuators for the top and bottom cables of the space antenna while considering the remaining cables as passive. To further reduce the number of actuators required, we employ various clustering strategies for the active actuating cables. Results show that the deployment from the initial state to the predetermined targets is successfully guided by the proposed control law through clustering active cables using different actuation strategies. It is significant to note, however, that the energy cost escalates as more cables are clustered into the deployable antenna structures. In the context of space applications, this scenario emphasizes structure design and control are not independent problems. These insights also offer extensive relevance and can be extrapolated to different deployable tensegrity structures and robotic systems.