US 12,257,723 B1
Data-driven bipartite consensus control method for multi-robot collaborative rotation of large workpiece
Haoran Tan, Changsha (CN); Xueming Zhang, Changsha (CN); You Wu, Changsha (CN); Yiqin Liang, Changsha (CN); Zhenguo Zhang, Changsha (CN); Chenzhuolei Chao, Changsha (CN); and Yaonan Wang, Changsha (CN)
Assigned to HUNAN UNIVERSITY, Changsha (CN)
Filed by HUNAN UNIVERSITY, Changsha (CN)
Filed on Sep. 9, 2024, as Appl. No. 18/827,912.
Application 18/827,912 is a continuation of application No. PCT/CN2023/142200, filed on Dec. 27, 2023.
Claims priority of application No. 202311154709.2 (CN), filed on Sep. 8, 2023.
Int. Cl. B25J 9/16 (2006.01); G05D 1/698 (2024.01)
CPC B25J 9/1682 (2013.01) [B25J 9/162 (2013.01); B25J 9/1664 (2013.01); G05D 1/6985 (2024.01)] 10 Claims
OG exemplary drawing
 
1. A data-driven bipartite consensus control method for multi-robot collaborative rotation of a large workpiece, comprising the following steps:
S100: setting a multi-robot system for achieving a rotation task, comprising a static leader robot for providing only expected signals and two follower robots, wherein the expected signals are signals provided by the static leader robot for the two follower robots;
S200: constructing a rotation dynamics model of the follower robots, discretizing the rotation dynamics model to acquire a corresponding discrete-time system, and constructing a lateral error between the follower and leader robots based on position information between the follower and leader robots;
S300: constructing, based on the discrete-time system, an unknown nonlinear function with the lateral error and a control input as variables; and constructing, based on the unknown nonlinear function, a lateral error data model of the follower robots through a dynamic linearization technique;
S400: constructing, based on a topological relationship of the multi-robot system and the lateral error between the follower and leader robots, a bipartite consensus error for the rotation task; substituting the bipartite consensus error and the lateral error data model into a designed control input objective function to solve a data-driven bipartite consensus controller; designing a parameter estimation algorithm to estimate an unknown parameter in the data-driven bipartite consensus controller; and allowing an estimated value to participate in a controller update under a condition of satisfying a designed reset algorithm, wherein the parameter estimation algorithm, the reset algorithm, and the data-driven bipartite consensus controller together form a data-driven bipartite consensus control algorithm for the multi-robot collaborative rotation of the large workpiece; and
S500: calculating, based on the data-driven bipartite consensus control algorithm, a front wheel steering angle control signal; and inputting the front wheel steering angle control signal into the multi-robot system to complete a rotation control of the large workpiece.