Data-driven bipartite consensus control method for multi-robot collaborative rotation of large workpiece
US12257723B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 9, 2024 |
| Grant date | Mar 25, 2025 |
| Priority date | — |
| Expiry date | Sep 9, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D2109/10
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The provided is a data-driven bipartite consensus control method for multi-robot collaborative rotation of a large workpiece. The method includes: setting a multi-robot system; constructing and discretizing a dynamics model of a follower robot, and constructing a lateral error based on position information between the follower and leader robots; constructing an unknown nonlinear function with the lateral error and a control input as variables, and constructing a lateral error data model of the follower robot through a dynamic linearization technique; designing, based on a topological relationship of the multi-robot system and the lateral error, a bipartite consensus error; substituting the data model into a designed objective function to solve a data-driven bipartite consensus controller; designing a parameter estimation algorithm to estimate an unknown parameter in the controller; allowing an estimated value to participate in a controller update; and calculating a front wheel steering angle control signal.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.