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 eventtriggering 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.