要毕业了,佛系上传一些资料,记录以前的学习情况
之前大佬的仿真没有延时的情况,本帖子补充了常时延的情况,时变时延博主也是菜鸡,不会搞QAQ
赵大佬文章链接如下:【Paper】2020_含时延约束的多智能体系统二分一致性_时延多智能体系统-CSDN博客
clear
clc
%% Define Initial Variables
% Laplacian matrxi
global L in
L = [2 -1 -1 0 0 0
-1 2 -1 0 0 0
-1 -1 3 1 0 0
0 0 1 3 -1 -1
0 0 0 -1 2 -1
0 0 0 -1 -1 2];
% Time parameters
tBegin = 0;
tFinal = 25;
span=[tBegin,tFinal];
% Initail values
in = [30 -10 0 10 -15 3];
Tau= 0.33; %此处修改时延
% Solve ode function
out = dde23(@odeFun,Tau ,@history,span);
t = out.x;
X = out.y;
%% Draw Results
plot(t,X(1,:), t,X(2,:), t,X(3,:), t,X(4,:),t,X(5,:),t,X(6,:), 'linewidth',1.5);
legend('Agent1','Agent2','Agent3','Agent4','Agent5','Agent6')
%% Build Ode Function
function out = odeFun(t, ~,TD)
%x_TD = TD-1.5*abs(sin(t));
x_TD = TD ;
global L
dotX = -L * x_TD;
out = dotX;
end
function X_his = history(~) % history 代表初值
global in
in = [30 -10 0 10 -15 3]';
X_his = in;
end
手动调参Tau即可。
有热心网友做出来时变时延部分仿真的,也欢迎分享供大家一起学习。