4.zip_matlab一致性_多智能体_多智能体网络_智能体_智能体 一致

clear all clc mun=4; % 5 follower countmax=500; dt=0.01; A=[0 1 1 1; %邻接矩阵 1 0 1 1; 1 1 0 1; 1 1 1 0]; Atotal(1,:)=[0 0 0 0]; for i=1:4 for j=1:4 Atotal(i)=Atotal(i)+A(i,j); end end %初始化 位置、速度、加速度 x(:,1)=[-1.5;0.8;0.2;-0.2]; V_x(:,1)=[0;0;0;0]; control_x=0.1; k=0; % 开始循环 for count=1:countmax k=k+1; for i=1:mun he(i)=sum(x(:,k))/4; dis(i,k)=x(i,k)-he(i); for j=1:mun yuan(i,j)=x(i,k)-x(j,k); v(i,j)=A(i,j)*yuan(i,j); v_1(i)=sum(v(i,:)); cha(i,j)=abs(x(i,k)-x(j,k)); feed(i,j)=A(i,j)*cha(i,j); end f(i)=sum(feed(i,:)); if f(i)==0 m(i)=0 else fenzi(i,j)=cha(i,j)/f(i); mi(i,j)=sign(cha(i,j))*(cha(i,j)*fenzi(i,j)); m(i)=sum(mi(i,:)); end V_x(i,k+1)=-(v_1(i)+m(i)); end for j=1:mun x(j,k+1)=x(j,k)+dt*V_x(j,k+1); end end for a=1:50 p(:,a)=dis(:,a*10); end p xlswrite('E:\weightdis', p); figure % 生成平面图 连续 plot(dis(1,:)); hold on; plot(dis(2,:)); hold on; plot(dis(3,:)); hold on; plot(dis(4,:)); xlabel('time/0.01s'); ylabel('disagreement');