The invention discloses a data-driven prediction multi-
mobile robot inclusion control method and
system. The method comprises the following steps: acquiring position information of mobile robots; constructing a dynamic
linearization data model, designing a multi-step prediction equation to estimate a future trajectory, minimizing a
tracking error and a control increment by using a
criterion function, deriving a control law, and combining a pseudo partial derivative matrix online
estimation and parameter prediction
algorithm to realize model-free adaptive prediction control; constructing a
dynamic switching communication network based on the directed
topological graph; based on a designed model-free adaptive predictive control model, an
inclusion control technology is introduced, so that all followers finally enter and keep moving in a convex
hull formed by a leader. The multi-
robot system gets rid of dependence on a
mathematical model, the controller is designed and analyzed only by using input / output data, all robots can finally enter and keep moving in a convex
hull formed by a leader, the cost is effectively reduced, and the applicability of the
system is improved.