Abstract
Tensegrity systems are selfstressed reticulate space structures. As lightweight frames, they are subject to deformation and vibration issues when faced to natural stimulation such as wind or footsteps. Classical passive solutions impose to rigidify components or to add damping in the structure, using heavy devices. Active systems, mainly developed in space and seismic fields, are controlled using external energy brought by activators. We describe in this paper a mixed approach for active geometric and dynamic control of tensegrity structures, using robust control design technique. An experiment is carried out on a six selfstress states plane tensegrity grid.