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- W3100630360 abstract "This work proposes a posture adjustment strategy for wheel-legged mechanisms via virtual model control with prescribed transient performance. A simple model of a rigid block subjected to a 6-dimensional force at the center of gravity (CoG) is introduced to be the virtual model of the wheel-legged control system. The force tracking of the wheel-legs is realized with prescribed transient performance based on the funnel control strategy. To improve the robustness of the scheme, an event-triggering condition is designed for on-line segment of the funnel function, such that the force tracking error evolves inside the performance funnel with proved convergence. The absence of Zeno behavior for the event-based mechanism is also guaranteed. With the force references of the wheel-legs are planned for the vector sum tracks the 6-dimensional force from the virtual model, the posture adjustment is achieved on uneven roads by the force tracking of wheel-legs. Experimental results are presented to validate the stability and effectiveness of the proposed method." @default.
- W3100630360 created "2020-11-23" @default.
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- W3100630360 date "2020-11-09" @default.
- W3100630360 modified "2023-09-23" @default.
- W3100630360 title "Virtual Model Control for Wheel-legged Robotic Systems with Prescribed Transient Performance." @default.
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