RNC.zip_MATLAB 多智能体_consensus_一致性_多智能体编程_智能体一致性

clear ltype = {'b-','r--','m-.','k-'}; tau=0.2; a=[0,0,0,1; 1,0,0,0; 1,0,0,0; 0,0,1,0]; sigma=2*ones(4,4); % sigma=zeros(4,4); T=20000; N=1000000; h=T/N; m=tau/h; c=zeros(1,N); d=ones(1,4); D=zeros(4,4); L=zeros(4,4); for i=1:4 d(i)=a(i,1)+a(i,2)+a(i,3)+a(i,4); D(i,i)=d(i); end L=D-a; E=eig(L) x=zeros(4,m+N+1); for d=1:m x(1,d)=6; x(2,d)=4; x(3,d)=3; x(4,d)=-8; end for j=m:m+N-1 Winc = sqrt(h)*randn(4,4); for i=1:4 w(i)=a(i,1)*sigma(1,i)*Winc(1,i)+a(i,2)*sigma(2,i)*Winc(2,i)+a(i,3)*sigma(3,i)*Winc(3,i)+a(i,4)*sigma(4,i)*Winc(4,i); end x(:,j+1)=x(:,j)-1/sqrt(1+j*h)*L*x(:,j-m+1)*h+1/sqrt(1+j*h)*w'; end for j=1:N+1 y(:,j)=x(:,j+m-1); end for i=1:4 plot([0:h:T],y(i,:),ltype{i},'Linewidth',2), hold on end legend('agent 1','agent 2','agent 3','agent 4') % title('Almost sure strong consensus','FontSize',16) ylabel('x(t)','FontSize',14), xlabel('time t','FontSize',12),axis([0,T,-10,10]), hold off