Title :
Attitude control of a tumbler system with rotational joints using a gyroscope
Author :
Okuyama, Yoshifumi ; Yabu, Atsuo ; Takemori, Fumiaki
Author_Institution :
Dept. of Inf. & Knowledge Eng., Tottori Univ., Japan
Abstract :
We develop an unstable structure (a tumbler system with joints) that has circular arc type bottoms, which is a model of a biped walking robot. Its attitude is controlled by using a small gyroscope. This paper describes the design of the feedback control system which controls the attitude by supporting one of the leg and driving the crotch joints. The basic feedback control system is a one-input two-output (SIMO) system. The H∞ control theory is used to design the compensator. The results of our experiment on the designed control system show that we successfully stabilized the control of the tumbler system with rotational joints
Keywords :
H∞ control; attitude control; compensation; control system synthesis; feedback; gyroscopes; legged locomotion; robust control; H∞ control; attitude control; biped walking robot; compensator; feedback; gyroscope; robust control; rotational joints; stability; tumbler system; Attitude control; Control systems; Control theory; Feedback control; Gyroscopes; Knee; Leg; Legged locomotion; Robot control; Robust control;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.721560
