Matlab实现含过时信息多智能体系统一致性算法

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;