Tensegrity flight simulator

In this paper we propose a new motion simulator based on a tendon-controlle d tensegrity structure. The simulator is equipped with a nonlinear controll er that achieves robust tracking of desired motions. The controller paramet ers can be tuned to guarantee tracking to within a prespecified tolerance a nd with a prescribed rate of exponential convergence. The design is verifie d through numerical simulations for specific longitudinal motions of a symm etric aircraft.