Data-driven bipartite consensus control method for multi-robot collaborative rotation of large workpiece

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.