论文标题
通过规定的瞬态性能，通过腿部控制轮式机器人系统调整姿势机器人系统
Posture Adjustment for a Wheel-legged Robotic System via Leg Force Control with Prescribed Transient Performance
论文作者
论文摘要
这项工作提出了一种力量控制策略，并针对车轮腿部机器人系统的腿部有规定的瞬态性能，以实现在不平坦的道路上的姿势调整。机器人系统的动态模型是用身体姿势作为输入和腿部力作为输出的，以便通过姿势参考和反馈来计算轮腿的所需力。基于漏斗控制方案，腿通过规定的瞬态性能实现了力跟踪。为了提高力控制系统的鲁棒性，基于事件的机制是为漏斗功能的在线段设计的。结果，轮腿的力跟踪误差会在性能漏斗内演变，并通过证明是融合。还保证了事件触发条件的无卫生行为。提出的控制方案应用于轮腿的物理原型，以进行力跟踪和姿势调整。提出了多个比较实验结果，以验证所提出方法的稳定性和有效性。
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.
