毕业设计&课设-给出了具有保证鲁棒正极小值的多智能体系统“事件触发一致性”数值例子的MATLAB程序….zip

clear all close all clc %% Define MAS and tuning parameters global alpha c L omega gamma lambda epsilon_eta N tau_miet ieta il itau delay s = [1 1 2 2 3 3 4 5 5 7]; t = [2 8 3 7 4 6 5 6 8 8]; G = graph(s,t); L = laplacian(G); D = diag(degree(G)); N = length(L); delta = 0.05; mu = 0.05; a = 0.1*ones(N,1); alpha = 0.5*ones(N,1); lambda = 0.1*ones(N,1); epsilon_eta = 0.05; c = (1-delta)*(1-a.*diag(D)); gamma = sqrt(diag(D)./a+mu); %% Compute the (tau_miet,tau_mad)-tradeoff curves tau_end =-(alpha.*c)./(gamma.*sqrt(alpha.*c)).*atan((lambda.^2-1)./lambda.*(1./(sqrt(alpha.*c)+1./sqrt(alpha.*c)))); for i=1:2 m=1; for lambda_loop = 0.1:0.1:0.4 phi00 = 1/lambda_loop; k = 1; for phi10 = 1.001:0.1:phi00 phi0 = [phi00;phi10]; options = odeset('RelTol',1e-4,'AbsTol',1e-6,... 'Events',@(t,phi) event_phi(t,phi,gamma(i),lambda_loop,phi10)); dphi = @(t,phi) [-gamma(i)*(1/(alpha(i)*c(i))*phi(1)^2+1); -gamma(i)/lambda_loop*(1/(alpha(i)*c(i))*phi(2)^2+1)]; [t,phi,tau_mad(k),phie,ie]= ode45(dphi,[0 tau_end(i)],phi0,options); dphi = @(t,phi) [-gamma(i)*(1/(alpha(i)*c(i))*phi(1)^2+1); 0]; tau_miet(k) =-(alpha(i).*c(i))./(gamma(i).*sqrt(alpha(i).*c(i))).*atan((lambda_loop*phi10-1./lambda_loop).*(1./(sqrt(alpha(i).*c(i))+phi10*1./sqrt(alpha(i).*c(i))))); k = k+1; end line_type = {'-','--',':','-.'}; figure(2);subplot(1,2,i);hold on;plot(tau_miet,tau_mad,['k',line_type{m}]);drawnow xlabel('$\tau_{miet}^i$ [s]') ylabel('$\tau_{mad}^i$ [s]') grid on; clear tau_miet tau_mad tau_miet_2 m = m+1; end legend('$\lambda = 0.1$','$\lambda = 0.2$','$\lambda = 0.3$','$\lambda = 0.4$') end %% Select a particular (tau_miet,tau_mad)-combination tau_end =-(alpha.*c)./(gamma.*sqrt(alpha.*c)).*atan((lambda.^2-1)./lambda.*(1./(sqrt(alpha.*c)+1./sqrt(alpha.*c)))); lambda = 0.2*ones(N,1); for i=1:N phi00 = 1/lambda(i); phi10 = phi00/2.5; phi0 = [phi00;phi10]; options = odeset('RelTol',1e-4,'AbsTol',1e-6,'MaxStep',1e-4,... 'Events',@(t,phi) event_phi(t,phi,gamma(i),lambda(i),phi10)); dphi = @(t,phi) [-gamma(i)*(1/(alpha(i)*c(i))*phi(1)^2+1); -gamma(i)/lambda(i)*(1/(alpha(i)*c(i))*phi(2)^2+1)]; [t,phi,tau_mad(i,1),phie,ie]= ode45(dphi,[0 tau_end(i)],phi0,options); dphi = @(t,phi) [-gamma(i)*(1/(alpha(i)*c(i))*phi(1)^2+1); 0]; [t,phi,tau_miet(i,1),phie,ie]= ode45(dphi,[tau_mad(i) tau_end(i)],phie,options); line_type = {'-','--',':','-.'}; if i<3 figure(2);subplot(1,2,i);hold on;plot(tau_miet(i),tau_mad(i),'o');drawnow xlabel('$\tau_{miet}^i$ [s]') ylabel('$\tau_{mad}^i$ [s]') grid on; end end % filename = ['Figures\MIET_MAD.tikz']; % matlab2tikz(filename, 'height', '\figureheight', 'width', '\figurewidth' ); %% Define the flow and jump dynamics omega = @(tau) tau<=tau_miet; Lbar = []; for i = 1:N Lbar = blkdiag(Lbar,L(i,:)); end % xi = (x,e,eta,tau,r,l) ix = 1:N; ie = N+1:N^2+N; iei = N+1:N+1:N^2+N; ieta = N^2+N+1:N^2+2*N; itau = N^2+2*N+1:N^2+3*N; ir = N^2+3*N+1:N^2+4*N; il = N^2+4*N+1:2*N^2+4*N; F = @(t,xi) [-L*xi(ix)-Lbar*xi(ie); kron(ones(N,1),L*xi(ix)+Lbar*xi(ie)); (1-alpha).*c.*(L*xi(ix)+Lbar*xi(ie)).^2-(1-omega(xi(itau))).*gamma.^2.*(1+1./(alpha.*c).*phi10^2.*lambda.^2).*xi(iei).^2-epsilon_eta*xi(ieta); ones(N,1); zeros(N,1); zeros(N^2,1)]; Gamma_i = @(xi) diag(xi(ieta)<=0); Gamma_bar_i = @(xi) diag(xi(ieta)>=0); Gamma_ij = @(xi,delay) diag(xi(il)>=1&kron(ones(N,1),xi(itau))>=delay); G_0 = @(xi) [ xi(ix); xi(ie); Gamma_bar_i(xi)*xi(ieta)+Gamma_i(xi)*gamma.*phi10.*lambda.*xi(iei).^2; Gamma_bar_i(xi)*xi(itau); Gamma_i(xi)*xi(ix)+Gamma_bar_i(xi)*xi(ir); xi(il) + kron(eye(N),Gamma_i(xi))*ones(N^2,1)]; G_1 = @(xi,delay) [ xi(ix); Gamma_ij(xi,delay)*(kron(ones(N,1),xi(ir))-xi(ie)-kron(ones(N,1),xi(ix)))+xi(ie); xi(ieta); xi(itau); xi(ir); xi(il)-Gamma_ij(xi,delay)*ones(N^2,1)]; %% Simulate the system options = odeset('RelTol',1e-6,'AbsTol',1e-8,'MaxStep',1e-3,... 'Events',@event_delays); xi0_0 = [8;6;4;2;-2;-4;-6;-8;zeros(N^2,1);zeros(N,1);zeros(N,1);zeros(N,1);zeros(N^2,1)]; xi0 = xi0_0; T_end = 8; te = 0; T = []; X = []; for i = 1:N TRIGGER{i} = []; end while te<T_end delay = kron(ones(N,1),tau_mad).*rand(N^2,1); [t,xi,te,xie,~] = ode45(F,[te T_end],xi0,options); if ~isempty(te) te = te(1); xie = xie(1,:); T = [T;t(t<te)];% X = [X;xi(t<te,:)]; else T = [T;t(1:end)]; X = [X;xi(1:end,:)]; end if ~isempty(te) for i = 1:N if xie(ieta(i))<0 TRIGGER{i} = [TRIGGER{i} te]; end end % Transmission jump xi0 = G_0(xie'); % Update jump xi0 = G_1(xi0,delay); end end %% Plot the results Color = {'k','r','r','k','r','k','k','r'}; Line = {'-','--','-.',':','-','--','-.',':'}; Marker = {'kx','ro','r+','k.','rx','ko','k+','r.'}; step = 250; figure; for i = 1:N figure(5); INTER{i} = TRIGGER{i}(2:end) - TRIGGER{i}(1:end-1); hold on;plot(TRIGGER{i}(2:end),INTER{i},Marker{i}); figure(12);hold on;plot(T(1:step:end),X(1:step:end,ix(i)),[Color{i},Line{i}]) figure(11);plot(T(1:step:end),X(1:step:end,ieta(i)),[Color{i},Line{i}]);hold on; xlabel('Time [s]') ylabel('$\eta_i$') end figure(5);hold on;plot([0 T_end],tau_miet(1)*ones(2,1),['-',Color{1}]); xlabel('Time [s]') ylabel('Inter-event times') hold on;plot([0 T_end],tau_miet(2)*ones(2,1),['-',Color{2}]); legend('$\mathcal{A}_1$','$\mathcal{A}_2$','$\mathcal{A}_3$','$\mathcal{A}_4$','$\mathcal{A}_5$','$\mathcal{A}_6$','$\mathcal{A}_7$','$\mathcal{A}_8$','$\tau_{miet}^1$','$\tau_{miet}^2$') grid on % filename = ['Figures\IET',num2str(i),'.tikz']; % matlab2tikz(filename, 'height', '\figureheight', 'width', '\figurewidth' ); figure(12); xlabel('Time [s]') ylabel('$x_i$') grid on legend('$\mathcal{A}_1$','$\mathcal{A}_2$','$\mathcal{A}_3$','$\mathcal{A}_4$','$\mathcal{A}_5$','$\mathcal{A}_6$','$\mathcal{A}_7$','$\mathcal{A}_8$') % filename = ['Figures\State_trajectories',num2str(i),'.tikz']; % matlab2tikz(filename, 'height', '\figureheight', 'width', '\figurewidth' );