二阶一领导四跟随_领导跟随_多智能体_多智能体系统_智能体

clc clear close all t0=0;tf=250; step_qw=0.01; p1=20; q0=[(rand(1)-0.5)*p1;(rand(1)-0.5)*p1;0.2;0.2; (rand(1)-0.5)*p1;(rand(1)-0.5)*p1;0.1;0.1; (rand(1)-0.5)*p1;(rand(1)-0.5)*p1;0.1;0.1; (rand(1)-0.5)*p1;(rand(1)-0.5)*p1;0.1;0.1; (rand(1)-0.5)*p1;(rand(1)-0.5)*p1;0.1;0.1]; %这一组是赋初值，里面有些给的是随机值,也可以改成定值 %save('q0.mat','q0'); load('q0.mat','q0'); [t,q]=ode45('Whole_Twodimension_total_state',t0:step_qw:tf,q0); figure(1); hold on xlabel('x position','FontName','Times New Roman','FontSize',14);ylabel('y position','FontName','Times New Roman','FontSize',14); plot(q(:,1),q(:,2),'g'); hold on plot(q(:,5),q(:,6),'r'); hold on plot(q(:,9),q(:,10),'b'); hold on plot(q(:,13),q(:,14),'k'); hold on plot(q(:,17),q(:,18),'c'); hold on legend('leader ','follower 1','follower 2','follower 3','follower 4',4); hold on plot(q(1,1),q(1,2),'ro'); hold on plot(q(1,5),q(1,6),'bo'); hold on plot(q(1,9),q(1,10),'bo'); hold on plot(q(1,13),q(1,14),'bo'); hold on plot(q(1,17),q(1,18),'bo'); hold on plot(q(end,1),q(end,2),'rp'); hold on box on figure(2) hold on xlabel('t/s','FontName','Times New Roman','FontSize',14);ylabel('$\bar{v}_i$','interpreter','latex','fontsize',14); hold on plot(t,q(:,3),'r:',t,q(:,4),'r'); hold on plot(t,q(:,7),'b:',t,q(:,8),'b'); hold on; plot(t,q(:,11),'k:',t,q(:,12),'k'); hold on; plot(t,q(:,15),'m:',t,q(:,16),'m'); hold on plot(t,q(:,19),'m:',t,q(:,20),'m'); box on legend('leader ','follower 1','follower 2','follower 3','follower 4',4); figure(3) hold on xlabel('t/s','FontName','Times New Roman','FontSize',14);ylabel('xi-x0','interpreter','latex','fontsize',14); hold on plot(t,q(:,5)-q(:,1),'r:',t,q(:,6)-q(:,2),'r'); hold on plot(t,q(:,9)-q(:,1),'b:',t,q(:,10)-q(:,2),'b'); hold on; plot(t,q(:,13)-q(:,1),'k:',t,q(:,14)-q(:,2),'k'); hold on; plot(t,q(:,17)-q(:,1),'m:',t,q(:,18)-q(:,2),'m'); hold on legend('leader ','follower 1','follower 2','follower 3','follower 4',4); box on figure(4) hold on xlabel('t/s','FontName','Times New Roman','FontSize',14);ylabel('vi-v0','interpreter','latex','fontsize',14); hold on plot(t,q(:,3)-q(:,7),'r:',t,q(:,4)-q(:,8),'r'); hold on plot(t,q(:,3)-q(:,11),'b:',t,q(:,4)-q(:,12),'b'); hold on; plot(t,q(:,3)-q(:,15),'k:',t,q(:,4)-q(:,16),'k'); hold on; plot(t,q(:,3)-q(:,19),'m:',t,q(:,4)-q(:,20),'m'); hold on box on legend('leader ','follower 1','follower 2','follower 3','follower 4',4); grid off