1 research outputs found
Posture Adjustment for a Wheel-legged Robotic System via Leg Force Control with Prescribed Transient Performance
This work proposes a force control strategy with prescribed transient
performance for the legs of a wheel-legged robotic system to realize the
posture adjustment on uneven roads. A dynamic model of the robotic system is
established with the body postures as inputs and the leg forces as outputs,
such that the desired forces for the wheel-legs are calculated by the posture
reference and feedback. Based on the funnel control scheme, the legs realize
force tracking with prescribed transient performance. To improve the robustness
of the force control system, an event-based mechanism is designed for the
online segment of the funnel function. As a result, the force tracking error of
the wheel-leg evolves inside the performance funnel with proved convergence.
The absence of Zeno behavior for the event-triggering condition is also
guaranteed. The proposed control scheme is applied to the wheel-legged physical
prototype for the performance of force tracking and posture adjustment.
Multiple comparative experimental results are presented to validate the
stability and effectiveness of the proposed methodology