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This work proposes a force control strategy with prescribed transientperformance for the legs of a wheel-legged robotic system to realize theposture adjustment on uneven roads. A dynamic model of the robotic system isestablished 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 posturereference and feedback. Based on the funnel control scheme, the legs realizeforce tracking with prescribed transient performance. To improve the robustnessof the force control system, an event-based mechanism is designed for theonline segment of the funnel function. As a result, the force tracking error ofthe wheel-leg evolves inside the performance funnel with proved convergence.The absence of Zeno behavior for the event-triggering condition is alsoguaranteed. The proposed control scheme is applied to the wheel-legged physicalprototype for the performance of force tracking and posture adjustment.Multiple comparative experimental results are presented to validate thestability and effectiveness of the proposed methodology.

Posture Adjustment for a Wheel-legged Robotic System via Leg Force Control with Prescribed Transient Performance