多智能体的编队控制matlab程序.zip
本程序是自己针对一篇IEEE TCST文章,用matlab编程实现,已验证可以运行。附件有详细的程序使用说明,和对应的文章。适合多智能体的编队或一致性研究的初学者学习。(这个程序上传的时候少了一个m文件,请搜索本人上传的所有资源找到补充文件)
代码片段和文件信息
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
目录 0 2018-10-24 16:10 Matlab code for multi-agent control
文件 1811 2018-03-29 21:57 Matlab code for multi-agent controldfcn_ht.m
文件 4215 2018-03-30 13:06 Matlab code for multi-agent controlDong2015IEEECST.m
文件 30775 2018-03-30 13:17 Matlab code for multi-agent controlDong2015IEEECST1.slx
文件 1607 2018-04-04 15:43 Matlab code for multi-agent controlfcn_ht.m
文件 5987 2018-03-30 13:07 Matlab code for multi-agent controlPLOT_Dong.m
文件 99 2018-10-24 16:12 Matlab code for multi-agent controlREADME.txt
文件 1358931 2017-11-20 17:17 Matlab code for multi-agent controlTime-Varying Formation Control for Unmanned Aerial VehiclesTheories and Applications-2015.pdf
function y = dfcn_ht(u)
t = u;
r = 10;
d = 5;
omega = 0.1;
g = zeros(15);
dh_xX = zeros(15);
dh_vX = zeros(15);
dh_xY = zeros(15);
dh_vY = zeros(15);
for i = 1:5
%% Application1
% g(i) = sign(sin(omega*t/2+pi*(i-1)/5));
% dh_xX(i) = omega*r*cos(omega*t + (2*pi*(i - 1))/5 - 1)*cos((omega*t)/2 + (pi*(i - 1))/5)*dirac(sin((omega*t)/2 + (pi*(i - 1))/5)) - omega*r*sign(sin((omega*t)/2 + (pi*(i - 1))/5))*sin(omega*t + (2*pi*(i - 1))/5 - 1);%期望编队位置X
% dh_vX(i) = - omega^2*r*sign(sin((omega*t)/2 + (pi*(i - 1))/5))*cos(omega*t + (2*pi*(i - 1))/5) - omega^2*r*cos((omega*t)/2 + (pi*(i - 1))/5)*sin(omega*t + (2*pi*(i - 1))/5)*dirac(sin((omega*t)/2 + (pi*(i - 1))/5));%期望编队速度X导数
% dh_xY(i) = omega*r*cos(omega*t + (2*pi*(i - 1))/5);%期望编队位置Y
% dh_vY(i)= -omega^2*r*sin(omega*t + (2*pi*(i - 1))/5);%期望编队速度Y
%% Application2
dh_xX(i) = r*omega*cos((omega*t+2*pi*(i-1)/5));%期望编队位置X
dh_vX(i) = -r*omega^2*sin(omega*t+2*pi*(i-1)/5);%期望编队速度X
dh_xY(i) = -r*omega*sin(omega*t+2*pi*(i-1)/5);%期望编队位置Y
dh_vY(i)= -r*omega^2*cos(omega*t+2*pi*(i-1)/5);%期望编队速度Y
%% Application 3
% dh_xX(i) = r*omega*cos(omega*t);%期望编队位置X
% dh_vX(i) = -r*omega^2*sin(omega*t);%期望编队速度X
% dh_xY(i) = 2*r*omega*cos(2*omega*t);%期望编队位置Y
% dh_vY(i)= -4*r*omega^2*sin(2*omega*t);%期望编队速度Y
end
y11 = [dh_vX(:1) dh_vY(:1)];
y12 = [dh_vX(:2) dh_vY(:2)];
y13 = [dh_vX(:3) dh_vY(:3)];
y14 = [dh_vX(:4) dh_vY(:4)];
y15 = [dh_vX(:5) dh_vY(:5)];
y21 = [dh_xX(:1) dh_xY(:1)];
y22 = [dh_xX(:2) dh_xY(:2)];
y23 = [dh_xX(:3) dh_xY(:3)];
y24 = [dh_xX(:4) dh_xY(:4)];
y25 = [dh_xX(:5) dh_xY(:5)];
y1 = [y11 y12 y13 y14 y15];
y2 = [y21 y22 y23 y24 y25];
y = y1;
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
目录 0 2018-10-24 16:10 Matlab code for multi-agent control
文件 1811 2018-03-29 21:57 Matlab code for multi-agent controldfcn_ht.m
文件 4215 2018-03-30 13:06 Matlab code for multi-agent controlDong2015IEEECST.m
文件 30775 2018-03-30 13:17 Matlab code for multi-agent controlDong2015IEEECST1.slx
文件 1607 2018-04-04 15:43 Matlab code for multi-agent controlfcn_ht.m
文件 5987 2018-03-30 13:07 Matlab code for multi-agent controlPLOT_Dong.m
文件 99 2018-10-24 16:12 Matlab code for multi-agent controlREADME.txt
文件 1358931 2017-11-20 17:17 Matlab code for multi-agent controlTime-Varying Formation Control for Unmanned Aerial VehiclesTheories and Applications-2015.pdf
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