Patents by Inventor Yiqin LIANG

Yiqin LIANG has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Data-driven bipartite consensus control method for multi-robot collaborative rotation of large workpiece
    Patent number: 12257723
    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.
    Type: Grant
    Filed: September 9, 2024
    Date of Patent: March 25, 2025
    Assignee: HUNAN UNIVERSITY
    Inventors: Haoran Tan, Xueming Zhang, You Wu, Yiqin Liang, Zhenguo Zhang, Chenzhuolei Chao, Yaonan Wang
  • DATA-DRIVEN BIPARTITE CONSENSUS CONTROL METHOD FOR MULTI-ROBOT COLLABORATIVE ROTATION OF LARGE WORKPIECE
    Publication number: 20250083323
    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.
    Type: Application
    Filed: September 9, 2024
    Publication date: March 13, 2025
    Applicant: HUNAN UNIVERSITY
    Inventors: Haoran TAN, Xueming ZHANG, You WU, Yiqin LIANG, Zhenguo ZHANG, Chenzhuolei CHAO, Yaonan WANG