含仿真录像，线性多智能体系统的分布式共识动态协议matlab仿真

clc; clear; close all; warning off; addpath(genpath(pwd)); %确定循环周期 loop=3000; %确定步长 step=0.01; %智能体数量 n=6;order=3; %邻接矩阵 A1 = [0 1 1 0 1 1 ; 1 0 1 1 0 0 ; 1 1 0 0 0 1 ; 0 1 0 0 1 0; 1 0 0 1 0 0; 1 0 1 0 0 0 ]; A2 = [0 1 0 0 1 1 ; 1 0 1 1 0 0 ; 0 1 0 0 0 1 ; 0 1 0 0 0 1; 1 0 0 0 0 0; 1 0 1 1 0 0 ]; %系统状态矩阵 SA=[0 1 0;0 0 1;0 0 0]; %输入矩阵 SB=[0 0 1]'; %输出矩阵 SC=[1 0 0]; %反馈矩阵 F=-[3 6.5 4.5]; %状态x x_state=-4*rand(order,n)+2; %x_state=zeros(order,n); %状态y y_state=SC*x_state; %状态v v_state=zeros(order,n); %输入u u_input=zeros(1,n); %tao tao=[1 -1;-1 1]; %L L=-[2.1115 1.3528 0.6286]'; %状态x的连续值 x1_state=zeros(order,n,loop); c_state=zeros(n,n,loop); u1_input=zeros(loop,n); c=[-1.5 -1 -0.5 0 0.5 1; -1 -0.5 0 0.5 1 1.5; -0.5 0 0.5 1 1.5 2; 0 0.5 1 1.5 2 2.5; 0.5 1 1.5 2 2.5 3; 1 1.5 2 2.5 3 3.5]; errorAdded = zeros(n); %-----------系统初始化-------------------------- %----------开始循环-------------------------- %---------对智能体进行循环，实验主题--------- for ld=1:loop x1_state(:,:,ld)=(x_state(:,:)-x_state(:,1));%保存状态信息 % x1_state(:,:,ld)=x_state(:,:); c_state(:,:,ld)=c(:,:);%保存自适应率信息 u1_input(ld,:)=u_input; if mod(ld, 2) == 0 A=A1; else A=A2; end %计算cij for i=1:n for j=1:n c(i,j)=c(i,j)+step*A(i,j)*[(y_state(i)-y_state(j));SC*(v_state(:,i)-v_state(:,j))]'... *tao*[(y_state(i)-y_state(j));SC*(v_state(:,i)-v_state(:,j))]; end end %计算相对误差求和 for i=1:n errorAdded(i)=0; for j=1:n errorAdded(i)=errorAdded(i)+c(i,j)*A(i,j) *(SC*(v_state(:,i) - v_state(:,j))-(y_state(i)-y_state(j))); end %计算状态v % v_state(:,i)=(step*(SA+SB*F)+eye(3))*v_state(:,i)+step*L*errorAdded(i); v_state(:,i)=step*((SA+SB*F)*v_state(:,i)+L*errorAdded(i))+v_state(:,i); end for i=1:n u_input(i)=F*v_state(:,i);%F:1*3,v_state:3*6 end %----------------对智能体进行计算------------ for i=1:n % x_state(:,i)=(eye(3)+step*SA)*x_state(:,i)+step*SB*u_input(i); x_state(:,i)=x_state(:,i)+step*(SA*x_state(:,i)+SB*u_input(i)); y_state(i)=SC*x_state(:,i); % disp(y_state(i)); end end figure(1) q1(:,:)=x1_state(1,:,:); q2(:,:)=x1_state(2,:,:); q3(:,:)=x1_state(3,:,:); p1(:,:)=c_state(1,:,:); p2(:,:)=c_state(2,:,:); p3(:,:)=c_state(3,:,:); plot(0:step:(loop-1)*step,q1,0:step:(loop-1)*step,q2,0:step:(loop-1)*step,q3,'LineWidth',1.5); figure(2) plot(0:step:(loop-1)*step,p1,0:step:(loop-1)*step,p2,0:step:(loop-1)*step,p3,'LineWidth',1.5) figure(3) plot(0:step:(loop-1)*step,u1_input,'LineWidth',1.5)