3d-多智能体.zip_3d-多智能体_一致性_多智能体一致_多智能体仿真_多智能体协同

function dx=fun_2018(t,x) N=6; H=[2 -1 0 0 0 -1;-1 3 -1 0 0 0 ;0 -1 3 -1 0 -1;0 0 -1 1 0 0;0 0 0 0 2 -1;-1 0 -1 0 -1 3] [V,D]=eig(H); eigenvalue=diag(D); lamda=min(eigenvalue); x5=-8; x6=-1; x1=-pi/3; a1=32; a2=1600; a3=6.5; a4=0.1; a5=6.5; b1=32; b2=1600; b3=1.2; b4=1.2; T1=2/sqrt(a2)+2/sqrt(b2)+2*sqrt(2)/sqrt(a1)+2*sqrt(2)/sqrt(a1); T2=T1+pi*N^(1/4)/(8*lamda*sqrt(a3*b3)); Tm=T2+pi*N^(1/4)/(8*lamda*sqrt(a5*b4)) x2=x5*sin(x1)-x6*cos(x1); %%x2=ksi2 x3=x5*cos(x1)+x6*sin(x1); %%%ksi 3 s=x3+(x3^2+a1*x2+b1*x2^3)^(1/2); % if t<T1 u1=1; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% u2=-(a1+3*b1*x2)/2*sign(s)-[a2*s+b2*s^3]^(1/2); elseif t<T2 u1=-a3*x1^2-b3*sign(x1); u2=-a4*sign(x3); else u1=-a3*x1^2-b3*sign(x1); u2=- end dx1=u1; dx2=x3*u1; dx3=u2; dx=[dx1;dx2;dx3]; end