Attitude control of tumbler systems with one joint using a gyroscope

We describe the attitude control of a pendulum system (tumbler) with one joint as a model of a walking robot. The loop-shaping method, a method that utilizes the weighting function based on the H_∞ control theory, is applied in the design of the stabilization compensator. The entire control system has been designed according to the concept of the two-degrees-of-freedom system. We herein report the results of computer simulation of a control system using the thus designed compensator, as well as the experimental results of a control system which uses a gyroscope to detect the attitude. The results of our experiments indicate that we have been successful in tumbler stabilization control