含时延和非线性的二阶领导跟随者matlab仿真（切换拓扑）

文献Leader-following formation control for second-order multiagent systems with time-varying delay and nonlinear dynamics

其中时滞设为常数r = 0.2

位置和速度误差图

轨迹图

clear;
clc;
close all;
tic;

%设各跟随者之间通信具有常时滞，r = 0.2
%切换拓扑

%定义变量
Tmax = 30;
kl = 2;
r = 0.2;
N = 3;
t0 = 0;
tmax = 30;
dt = 0.01;
TMAX = tmax/dt;

time = [];
T = [];
v = [];
x = [];

X0 = cell(1,TMAX);
V0 = cell(1,TMAX);
Xf = cell(N,TMAX);
Vf = cell(N,TMAX);
H = cell(N,TMAX);
error_x = cell(N,TMAX);
error_v = cell(N,TMAX);
U = cell(N,TMAX);


%领导者轨迹
v(1,1) = 0;
v(2,1) = 0;
x(1,1) = 1;
x(2,1) = 2;

for i = 1:1:(tmax/dt)
    time(i,1) = i*dt;
    T(i,1) = sin(2*time(i,1));
    v(1,i+1) = v(1,i)+(T(i,1) - 0.2*v(1,i))*dt;
    v(2,i+1) = v(2,i)+(T(i,1) - 0.2*v(2,i))*dt;

    x(1,i+1) = x(1,i) + v(1,i)*dt;
    x(2,i+1) = x(2,i) + v(2,i)*dt;

end

for i = 1:1:TMAX
    
    X0{1,i}(1) = x(1,i);
    X0{1,i}(2,1) = x(2,i);
    V0{1,i}(1) = v(1,i);
    V0{1,i}(2,1) = v(2,i);    
    
end

%跟随者的初始状态
x1 = [-1 -1]';
x2 = [-3.5 -3.5]';
x3 = [-5 -5]';

v1 = [4.5 4.5]';
v2 = [2