43680537balanced-graph1.zip_multi-agent_一致性_多智能体_多智能体s函数_简单的多智能体

clear all clc tspan=[0,40]; y0=[7 6 2 1 0.5 -0.3 -0.5 -3.5 -5 -7.2]; [tt,yy]=ode45(@System1,tspan,y0); yy1=yy.^2; %将矩阵的每一个元素平方 kase=sum(yy1,2);%对每行元素求和 L=[1 -1 0 0 0 0 0 0 0 0; 0 1 -1 0 0 0 0 0 0 0; 0 0 1 -1 0 0 0 0 0 0; 0 0 0 1 -1 0 0 0 0 0; 0 0 0 0 1 -1 0 0 0 0; 0 0 0 0 0 1 -1 0 0 0; 0 0 0 0 0 0 1 -1 0 0; 0 0 0 0 0 0 0 1 -1 0; 0 0 0 0 0 0 0 0 1 -1; -1 0 0 0 0 0 0 0 0 1] %计算第二小特征值是注意要改变系统的状态方程 landa=eig(L); landa2=real(landa(2)); subplot(2,1,1); figure(1); plot(tt,yy(:,1)); hold on; plot(tt,yy(:,2)); hold on; plot(tt,yy(:,3)); hold on; plot(tt,yy(:,4)); hold on; plot(tt,yy(:,5)); hold on; plot(tt,yy(:,6)); hold on; plot(tt,yy(:,7)); hold on; plot(tt,yy(:,8)); hold on; plot(tt,yy(:,9)); hold on; plot(tt,yy(:,10)); axis([0 40 -10 10]); xlabel('time(sec)'); ylabel('node value'); grid; title('Algebraic Connectivity=0.191'); subplot(2,1,2); plot(tt,kase); axis([0 40 0 200]); xlabel('time(sec)'); ylabel('disagreement'); grid;