clear,clc,close all;
L=[1 -1 0 0 0 0 0;
-1 4 -1 0 -1 -1 0;
0 -1 2 0 0 -1 0;
0 0 0 1 0 -1 0;
0 -1 0 -1 2 0 0;
0 -1 -1 0 0 3 -1;
0 0 0 0 0 -1 1];
Tstep=0.0001;Times=200000;r=1;
X=zeros(7,Times +1);
X(:,1)=[0.8 1.2 -0.4 0.3 -0.8 1.5 0.5];
V=zeros(7,Times +1);
V(:,1)=[1 -0.5 0.8 1.3 -0.2 1.2 0.2];
dV=zeros(7,Times+1);
for n=1:Times
%if (ceil((n*Tstep - 0.01*abs(sin(n*Tstep)))/Tstep) >=1)
%dV(:,n)=-L*X(:,n)-r*L*V(:,n)-L*X(:,ceil((n*Tstep-0.01*abs(sin(n*Tstep)))/Tstep))-r*L*V(:,ceil((n*Tstep -0.01*abs(sin(n*Tstep)))/Tstep));
if (ceil((n*Tstep - 0.0001)/Tstep) >=1)
dV(:,n)=-L*X(:,n)-r*L*V(:,n)-L*X(:,ceil((n*Tstep-0.0001)/Tstep))-r*L*V(:,ceil((n*Tstep -0.0001)/Tstep));
else
dV(:,n)=-L*X(:,n)-r*L*V(:,n)-L*X(:,n)-r*L*V(:,n);
end
V(:,n+1) =V(:,n)+ dV(:,n) * Tstep;
X(:,n+1) = X(:,n) + V(:,n) * Tstep;
end
t = (0:Times) * Tstep;
figure(1);
plot(t,X(1,:),t,X(2,:),t,X(3,:),t,X(4,:),t,X(5,:),t,X(6,:),t,X(7,:));
xlabel('time(s)');
ylabel('positions of agents');
legend('agent1','agent2','agent3','agent4','agent5','agent6','agent7');
grid;
figure(2);
plot(t,V(1,:),t,V(2,:),t,V(3,:),t,V(4,:),t,V(5,:),t,V(6,:),t,V(7,:));
xlabel('time(s)');
ylabel('velocity of agents');
legend('agent1','agent2','agent3','agent4','agent5','agent6','agent7');
grid;
