Simultaneous Optimization of Structure and Control of Smart Tensegrity Structures

A Multidisciplinary design optimization of a smart tensegrity structure using genetic algorithm is considered as a mixed discrete-continuous objective programing problem. Robust H-2 and H-infinity controller norms are considered as the objective. Performance of the H2 and H-infinity 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.