Active control for mid-span connection of a deployable tensegrity footbridge

Tensegrity structures are spatial self-stressed pin jointed structures where compression components (struts) are surrounded by tension elements. This paper describes a near full-scale deployable tensegrity footbridge that deploys from both sides and connects at mid-span. Two topologies that differ in terms of symmetry of elements and paths of continuous cables are compared. Although both topologies behave similarly with respect to serviceability criteria, there is a significant difference in behavior during deployment. A two-stage control methodology for the connection of both halves of the footbridge is presented. The control methodology determines active cable length changes based on computational control and measurement of the response of the structure during deployment. Both halves are successfully connected at the end of deployment. (C) 2016 Elsevier Ltd. All rights reserved.