This paper concerns prestress optimization of a tensegrity structure for its optimal LQR performance. A linearized dynamic model of the structure is derived in which the force-density variables that parameterize the prestress of the structure appear linearly. A feasible region for these parameters is defined in terms of the extreme directions of the prestress cone. A numerical method for computing this basis for a structure prestress cone is proposed. The problem is solved using a gradient method that provides a monotonic decrease of the objective function inside the feasible region. A numerical example of a cantilevered planar tensegrity beam is shown. © 2005 Elsevier Ltd. All rights reserved.
Masic, M., & Skelton, R. E. (2006). Selection of prestress for optimal dynamic/control performance of tensegrity structures. International Journal of Solids and Structures, 43(7–8), 2110–2125. https://doi.org/10.1016/j.ijsolstr.2005.06.066