一致性_多智能体_多智能体MATLAB_一致性_多智能体MATLAB_multiagent

clc clear close all t0=0;tf=150; step_qw=0.01; p1=20; q0= [(rand(1)-0.5)*p1;(rand(1)-0.5)*p1; (rand(1)-0.5)*p1;(rand(1)-0.5)*p1; (rand(1)-0.5)*p1;(rand(1)-0.5)*p1; (rand(1)-0.5)*p1;(rand(1)-0.5)*p1; (rand(1)-0.5)*p1;(rand(1)-0.5)*p1 ]; %save('q0.mat','q0'); load('q0.mat','q0'); [t,q]=ode45('Whole_Twodimension_total_state',t0:step_qw:tf,q0); figure(1); hold on xlabel('x position','FontName','Times New Roman','FontSize',14);ylabel('y position','FontName','Times New Roman','FontSize',14); plot(q(:,1),q(:,2),'g'); hold on plot(q(:,3),q(:,4),'r'); hold on plot(q(:,5),q(:,6),'b'); hold on plot(q(:,7),q(:,8),'k'); hold on plot(q(:,9),q(:,10),'c'); hold on legend('leader ','follower 1','follower 2','follower 3','follower 4',4); plot(q(1,1),q(1,2),'ro'); hold on plot(q(1,3),q(1,4),'bo'); hold on plot(q(1,5),q(1,6),'bo'); hold on plot(q(1,7),q(1,8),'bo'); hold on plot(q(1,9),q(1,10),'bo'); hold on plot(q(end,1),q(end,2),'rp'); hold on box on figure(2); hold on xlabel('t/s','FontName','Times New Roman','FontSize',14);ylabel('Xi ','FontName','Times New Roman','FontSize',14); plot(q(:,1),'g'); hold on plot(q(:,3),'r'); hold on plot(q(:,5),'b'); hold on plot(q(:,7),'k'); hold on plot(q(:,9),'c'); hold on legend('leader ','follower 1','follower 2','follower 3','follower 4',4); box on figure(3); hold on xlabel('t/s','FontName','Times New Roman','FontSize',14);ylabel('Yi ','FontName','Times New Roman','FontSize',14); plot(q(:,2),'g'); hold on plot(q(:,4),'r'); hold on plot(q(:,6),'b'); hold on plot(q(:,8),'k'); hold on plot(q(:,10),'c'); hold on legend('leader ','follower 1','follower 2','follower 3','follower 4',4); box on figure(4) hold on xlabel('t/s','FontName','Times New Roman','FontSize',14);ylabel('xi-x0','interpreter','latex','fontsize',14); hold on plot(t,q(:,3)-q(:,1),'r:',t,q(:,4)-q(:,2),'r-'); hold on plot(t,q(:,5)-q(:,1),'b:',t,q(:,6)-q(:,2),'b-'); hold on; plot(t,q(:,7)-q(:,1),'k:',t,q(:,8)-q(:,2),'k-'); hold on; plot(t,q(:,9)-q(:,1),'m:',t,q(:,10)-q(:,2),'m-'); hold on legend('leader ','follower 1','follower 2','follower 3','follower 4',4); box on grid off