Model-Based and Markov Data-Based Linearized Tensegrity Dynamics and Analysis of Morphing Airfoils

This paper introduces two methods for linearizing nonlinear tensegrity dynamics: a model based and a Markov data-based approach. We first give the tensegrity notations and their nonlinear dynamics, followed by the theoretical formulation of a model-based linearization using Taylor expansion. Subsequently, the paper presents an empirical method of Markov data-based approach to linearizing these dynamics. Finally, we implement a shape-controllable tensegrity airfoil as an example. An extensive study and analysis are provided to compare the efficacy of both linearization methods. The principles established in this research are applicable to a variety of structures beyond tensegrity.