【一致性仿真】Consensus of second-order heterogeneous multi-agent systems with and without input saturation
2024-05-23 14:03:18
文章链接：Consensus of second-order heterogeneous multi-agent systems with and without input saturation - ScienceDirect
仿真图FIG23
% Consensus of second-order heterogeneous multi-agent systems with and without input saturation
% author:JCGUY
% date:2022-04-20
clear
clc%%
tBegin = 0;
dT = 0.01;
tFinal = 50;
times = (tFinal - tBegin) / dT;
time = 1;
t(1,1) = 0;D = [ 2 0 0 0 0 ;0 4 0 0 0 ;0 0 2 0 0 ;0 0 0 2 0 ;0 0 0 0 2 ;];
A = [0 1 0 1 0;1 0 1 1 1;0 1 0 0 1;1 1 0 0 0;0 1 1 0 0];
L = D - A;
%t=0时刻，状态为a
X(:,1) = [6, 3, -7, 2, -5]';
V(:,1) = [1, -3, 5, -2, 6]';
U(:,1) = [0, 0, 0, 0, 0]';
alpha4 = 2;
alpha5 = 3;
b1 = 1;
b2 = 2;
b3 = 3;
b4 = 2;
b5 = 3;%% 迭代公式，收敛计算
for i=1:timest(:,i+1) = t(:,i) + dT;% 控制输入分别为 atan()U(1, i) = A(1,2) * atan(X(2, i)-X(1, i)) + A(1,4) * atan(X(4, i)-X(1, i)) - b1 * atan(V(1, i));U(2, i) = A(2,1) * atan(X(1, i)-X(2, i)) + A(2,3) * atan(X(3, i)-X(2, i)) + A(2,4) * atan(X(4, i)-X(2, i)) + A(2,5) * atan(X(5, i)-X(2, i)) - b2 * atan(V(2, i));U(3, i) = A(3,2) * atan(X(2, i)-X(3, i)) + A(3,5) * atan(X(5, i)-X(3, i)) - b3 * atan(V(3, i));U(4, i) = A(4,1) * atan(X(1, i)-X(4, i)) + A(4,2) * atan(X(2, i)-X(4, i)) - b4 * atan(V(4, i)) + 2 * cos(X(4, i)) * sin(atan(V(4, i)));U(5, i) = A(5,2) * atan(X(2, i)-X(5, i)) + A(5,3) * atan(X(3, i)-X(5, i)) - b5 * atan(V(5, i)) - 3 * cos(X(5, i))* atan(V(5, i));V(:,i+1) = V(:,i) + U(:,i)*dT;X(:,i+1) = X(:,i) + V(:,i)*dT;end%% 绘图
subplot(1,2,1)
plot(t,X(1,:),'linewidth',1.0); hold on % x1
plot(t,X(2,:),'linewidth',1.0); hold on % x2
plot(t,X(3,:),'linewidth',1.0); hold on % x3
plot(t,X(4,:),'linewidth',1.0); hold on % x4
plot(t,X(5,:),'linewidth',1.0); hold on % x5
title('Position Trajectory');
legend("x_1", "x_2", "x_3", "x_4", "x_5");
axis([0 50 -8 8]);
grid on; box on;subplot(1,2,2)
plot(t,V(1,:),'linewidth',1.0); hold on % v1
plot(t,V(2,:),'linewidth',1.0); hold on % v2
plot(t,V(3,:),'linewidth',1.0); hold on % v3
plot(t,V(4,:),'linewidth',1.0); hold on % v4
plot(t,V(5,:),'linewidth',1.0); hold on % v5
title('Velocity Trajectory');
legend("v_1", "v_2", "v_3", "v_4", "v_5");
axis([0 50 -4 6]);
grid on; box on;% subplot(2,2,3)
% plot(t(1,1:5000),U(1,1:5000),'linewidth',1.0); hold on % v1
% plot(t(1,1:5000),U(2,1:5000),'linewidth',1.0); hold on % v2
% plot(t(1,1:5000),U(3,1:5000),'linewidth',1.0); hold on % v3
% plot(t(1,1:5000),U(4,1:5000),'linewidth',1.0); hold on % v4
% plot(t(1,1:5000),U(5,1:5000),'linewidth',1.0); hold on % v5
% title('Input Trajectory');
% legend("i_1", "i_2", "i_3", "i_4", "i_5");
% %axis([0 50 -6 1]);
% grid on; box on;
仿真图FIG4
% Consensus of second-order heterogeneous multi-agent systems with and without input saturation
% author:JCGUY
% date:2022-04-20
clear
clc%%
tBegin = 0;
dT = 0.01;
tFinal = 40;
times = (tFinal - tBegin) / dT;
time = 1;
t(1,1) = 0;D = [ 2 0 0 0 0 ;0 4 0 0 0 ;0 0 2 0 0 ;0 0 0 2 0 ;0 0 0 0 2 ;];
A = [0 1 0 1 0;1 0 1 1 1;0 1 0 0 1;1 1 0 0 0;0 1 1 0 0];
L = D - A;
%t=0时刻，状态为a
X(:,1) = [6, 3, -7, 2, -5]';
V(:,1) = [1, -3, 5, -2, 6]';
U(:,1) = [0, 0, 0, 0, 0]';
beta4 = 2;
beta5 = 3;
c1 = 1;
c2 = 2;
c3 = 3;
c4 = 2;
c5 = 3;%% 迭代公式，收敛计算
for i=1:timest(:,i+1) = t(:,i) + dT;% 控制输入分别为 atan()U(1, i) = A(1,2) * (X(2, i)-X(1, i)) + A(1,4) * (X(4, i)-X(1, i)) - c1 * V(1, i);U(2, i) = A(2,1) * (X(1, i)-X(2, i)) + A(2,3) * (X(3, i)-X(2, i)) + A(2,4) * (X(4, i)-X(2, i)) + A(2,5) * (X(5, i)-X(2, i)) - c2 * V(2, i);U(3, i) = A(3,2) * (X(2, i)-X(3, i)) + A(3,5) * (X(5, i)-X(3, i)) - c3 * V(3, i);U(4, i) = A(4,1) * (X(1, i)-X(4, i)) + A(4,2) * (X(2, i)-X(4, i)) - c4 * V(4, i) + 2 * cos(X(4, i)) * sin(V(4, i));U(5, i) = A(5,2) * (X(2, i)-X(5, i)) + A(5,3) * (X(3, i)-X(5, i)) - c5 * V(5, i) - 3 * sin(X(5, i)) * V(5, i);V(:,i+1) = V(:,i) + U(:,i)*dT;X(:,i+1) = X(:,i) + V(:,i)*dT;end%% 绘图
subplot(1,2,1)
plot(t,X(1,:),'linewidth',1.0); hold on % x1
plot(t,X(2,:),'linewidth',1.0); hold on % x2
plot(t,X(3,:),'linewidth',1.0); hold on % x3
plot(t,X(4,:),'linewidth',1.0); hold on % x4
plot(t,X(5,:),'linewidth',1.0); hold on % x5
title('Position Trajectory');
legend("x_1", "x_2", "x_3", "x_4", "x_5");
%axis([0 50 -8 8]);
grid on; box on;subplot(1,2,2)
plot(t,V(1,:),'linewidth',1.0); hold on % v1
plot(t,V(2,:),'linewidth',1.0); hold on % v2
plot(t,V(3,:),'linewidth',1.0); hold on % v3
plot(t,V(4,:),'linewidth',1.0); hold on % v4
plot(t,V(5,:),'linewidth',1.0); hold on % v5
title('Velocity Trajectory');
legend("v_1", "v_2", "v_3", "v_4", "v_5");
%axis([0 50 -4 6]);
grid on; box on;% subplot(2,2,3)
% plot(t(1,1:5000),U(1,1:5000),'linewidth',1.0); hold on % v1
% plot(t(1,1:5000),U(2,1:5000),'linewidth',1.0); hold on % v2
% plot(t(1,1:5000),U(3,1:5000),'linewidth',1.0); hold on % v3
% plot(t(1,1:5000),U(4,1:5000),'linewidth',1.0); hold on % v4
% plot(t(1,1:5000),U(5,1:5000),'linewidth',1.0); hold on % v5
% title('Input Trajectory');
% legend("i_1", "i_2", "i_3", "i_4", "i_5");
% %axis([0 50 -6 1]);
% grid on; box on;
仿真图FIG56
% Consensus of second-order heterogeneous multi-agent systems with and without input saturation
% author:JCGUY
% date:2022-04-20
clear
clc%%
tBegin = 0;
dT = 0.01;
tFinal = 40;
times = (tFinal - tBegin) / dT;
time = 1;
t(1,1) = 0;D = [ 2 0 0 0 0 ;0 4 0 0 0 ;0 0 2 0 0 ;0 0 0 2 0 ;0 0 0 0 2 ;];
A = [0 1 0 1 0;1 0 1 1 1;0 1 0 0 1;1 1 0 0 0;0 1 1 0 0];
L = D - A;
%t=0时刻，状态为a
X(:,1) = [6, 3, -7, 2, -5]';
V(:,1) = [1, -3, 5, -2, 6]';
U(:,1) = [0, 0, 0, 0, 0]';
gama4 = 2;
gama5 = 3;
d1 = 1;
d2 = 2;
d3 = 3;
d4 = 2;
d5 = 3;%% 迭代公式，收敛计算
for i=1:timest(:,i+1) = t(:,i) + dT;% 控制输入分别为 atan()U(1, i) = A(1,2) * g1(X(2, i)-X(1, i)) + A(1,4) * g1(X(4, i)-X(1, i)) - d1 * g1(V(1, i));U(2, i) = A(2,1) * g1(X(1, i)-X(2, i)) + A(2,3) * g1(X(3, i)-X(2, i)) + A(2,4) * g1(X(4, i)-X(2, i)) + A(2,5) * g1(X(5, i)-X(2, i)) - d2 * g1(V(2, i));U(3, i) = A(3,2) * g1(X(2, i)-X(3, i)) + A(3,5) * g1(X(5, i)-X(3, i)) - d3 * g1(V(3, i));U(4, i) = A(4,1) * g1(X(1, i)-X(4, i)) + A(4,2) * g1(X(2, i)-X(4, i)) - d4 * g1(V(4, i)) + 2 * cos(X(4, i)) * sin(V(4, i));U(5, i) = A(5,2) * g1(X(2, i)-X(5, i)) + A(5,3) * g1(X(3, i)-X(5, i)) - d5 * g1(V(5, i)) - 3 * sin(X(5, i)) * V(5, i)/sqrt(1+V(5, i)*V(5, i));V(:,i+1) = V(:,i) + U(:,i)*dT;X(:,i+1) = X(:,i) + V(:,i)*dT;end%% 绘图
subplot(1,2,1)
plot(t,X(1,:),'linewidth',1.0); hold on % x1
plot(t,X(2,:),'linewidth',1.0); hold on % x2
plot(t,X(3,:),'linewidth',1.0); hold on % x3
plot(t,X(4,:),'linewidth',1.0); hold on % x4
plot(t,X(5,:),'linewidth',1.0); hold on % x5
title('Position Trajectory');
legend("x_1", "x_2", "x_3", "x_4", "x_5");
%axis([0 50 -8 8]);
grid on; box on;subplot(1,2,2)
plot(t,V(1,:),'linewidth',1.0); hold on % v1
plot(t,V(2,:),'linewidth',1.0); hold on % v2
plot(t,V(3,:),'linewidth',1.0); hold on % v3
plot(t,V(4,:),'linewidth',1.0); hold on % v4
plot(t,V(5,:),'linewidth',1.0); hold on % v5
title('Velocity Trajectory');
legend("v_1", "v_2", "v_3", "v_4", "v_5");
%axis([0 50 -4 6]);
grid on; box on;% subplot(2,2,3)
% plot(t(1,1:5000),U(1,1:5000),'linewidth',1.0); hold on % v1
% plot(t(1,1:5000),U(2,1:5000),'linewidth',1.0); hold on % v2
% plot(t(1,1:5000),U(3,1:5000),'linewidth',1.0); hold on % v3
% plot(t(1,1:5000),U(4,1:5000),'linewidth',1.0); hold on % v4
% plot(t(1,1:5000),U(5,1:5000),'linewidth',1.0); hold on % v5
% title('Input Trajectory');
% legend("i_1", "i_2", "i_3", "i_4", "i_5");
% %axis([0 50 -6 1]);
% grid on; box on;
function [output]=g1(a)
if(a>-1 && a<1)output=a;
elseoutput=sign(a);
end
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