└── Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems ├── Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems ├── agent_ctrl.m ├── agent_plant.m ├── agent_plot.m ├── agentsim.slx ├── agentsim_2018a.slx ├── sig.m └── 邹志华.PDF ├── ode45_topology10_figure4.m ├── ode45_topology10_figure4f.m ├── topology10_figure4.m ├── topology11_figure4.m └── 邹志华.pdf /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/agent_ctrl.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Distributed-finite-time-regulation-of-a-class-of-networked-heterogeneous-multi-agent-systems/65d51a1f351a9b6702bce0e33d0f1f1912267353/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/agent_ctrl.m -------------------------------------------------------------------------------- /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/agent_plant.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Distributed-finite-time-regulation-of-a-class-of-networked-heterogeneous-multi-agent-systems/65d51a1f351a9b6702bce0e33d0f1f1912267353/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/agent_plant.m -------------------------------------------------------------------------------- /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/agent_plot.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Distributed-finite-time-regulation-of-a-class-of-networked-heterogeneous-multi-agent-systems/65d51a1f351a9b6702bce0e33d0f1f1912267353/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/agent_plot.m -------------------------------------------------------------------------------- /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/agentsim.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Distributed-finite-time-regulation-of-a-class-of-networked-heterogeneous-multi-agent-systems/65d51a1f351a9b6702bce0e33d0f1f1912267353/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/agentsim.slx -------------------------------------------------------------------------------- /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/agentsim_2018a.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Distributed-finite-time-regulation-of-a-class-of-networked-heterogeneous-multi-agent-systems/65d51a1f351a9b6702bce0e33d0f1f1912267353/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/agentsim_2018a.slx -------------------------------------------------------------------------------- /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/sig.m: -------------------------------------------------------------------------------- 1 | function sig = sig(x,u) 2 | sig=sign(x)*abs(x).^u; 3 | end 4 | 5 | -------------------------------------------------------------------------------- /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/邹志华.PDF: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Distributed-finite-time-regulation-of-a-class-of-networked-heterogeneous-multi-agent-systems/65d51a1f351a9b6702bce0e33d0f1f1912267353/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/邹志华.PDF -------------------------------------------------------------------------------- /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/ode45_topology10_figure4.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Distributed-finite-time-regulation-of-a-class-of-networked-heterogeneous-multi-agent-systems/65d51a1f351a9b6702bce0e33d0f1f1912267353/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/ode45_topology10_figure4.m -------------------------------------------------------------------------------- /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/ode45_topology10_figure4f.m: -------------------------------------------------------------------------------- 1 | function dx=ode45_topology10_figure4f (t,x,flag,para) 2 | %global 3 | dx=zeros(20,1); 4 | a1=0.15+1.2*0.5^2+0.25+2.5*0.6^2+2.5*1.2^2; 5 | a2=0.25+2.5*0.6^2; 6 | a3=2.5*1.2*0.6*cos(30*pi/180); 7 | a4=2.5*1.2*0.6*sin(30*pi/180); 8 | 9 | u_1=x(3)-x(1); 10 | u_7=x(13)-x(11); 11 | 12 | u_2=x(7)-x(2); 13 | u_8=x(17)-x(12); 14 | 15 | u_3=x(1)-x(3)+x(7)-x(3)+x(9)-x(3)-x(4); 16 | u_9=x(11)-x(13)+x(17)-x(13)+x(19)-x(13)-x(14); 17 | 18 | u_4=x(9)-x(5)+x(7)-x(5)-x(6); 19 | u_10=x(19)-x(15)+x(17)-x(15)-x(16); 20 | 21 | m5_11=a1+2*a3*cos(x(17))+2*a4*sin(x(17)); 22 | m5_12=a2+a3*cos(x(17))+a4*sin(x(17)); 23 | m5_21=a2+a3*cos(x(17))+a4*sin(x(17)); 24 | m5_22=a2; 25 | M5=[m5_11,m5_12;m5_21,m5_22]; 26 | c5_11=a4*cos(x(17))-a3*sin(x(17)); 27 | c5_12=(a4*cos(x(17))-a3*sin(x(17)))*(x(8)+x(18)); 28 | c5_21=a3*sin(x(17))-a4*cos(x(17)); 29 | c5_22=0; 30 | C5=[c5_11 c5_12;c5_21 c5_22]; 31 | V5=inv(M5)*([x(2)-x(7)+x(3)-x(7)+x(5)-x(7)-x(8);x(12)-x(17)+x(13)-x(17)+x(15)-x(17)-x(18)]-C5*[x(8);x(18)]); 32 | u_5=V5(1); 33 | u_11=V5(2); 34 | 35 | m6_11=a1+2*a3*cos(x(19))+2*a4*sin(x(19)); 36 | m6_12=a2+a3*cos(x(19))+a4*sin(x(19)); 37 | m6_21=a2+a3*cos(x(19))+a4*sin(x(19)); 38 | m6_22=a2; 39 | M6=[m6_11,m6_12;m6_21,m6_22]; 40 | c6_11=a4*cos(x(19))-a3*sin(x(19)); 41 | c6_12=(a4*cos(x(19))-a3*sin(x(19)))*(x(10)+x(20)); 42 | c6_21=a3*sin(x(19))-a4*cos(x(19)); 43 | c6_22=0; 44 | C6=[c6_11 c6_12;c6_21 c6_22]; 45 | V6=inv(M6)*([x(3)-x(9)+x(5)-x(9)-x(10);x(13)-x(19)+x(15)-x(19)-x(20)]-C6*[x(10);x(20)]); 46 | u_6=V6(1); 47 | u_12=V6(2); 48 | 49 | 50 | 51 | dx(1)=u_1; 52 | 53 | dx(2)=u_2; 54 | 55 | dx(3)=x(4); 56 | dx(4)=u_3; 57 | 58 | dx(5)=x(6); 59 | dx(6)=u_4; 60 | 61 | dx(7)=x(8); 62 | dx(8)=u_5; 63 | 64 | dx(9)=x(10); 65 | dx(10)=u_6; 66 | 67 | dx(11)=u_7; 68 | 69 | dx(12)=u_8; 70 | 71 | dx(13)=x(14); 72 | dx(14)=u_9; 73 | 74 | dx(15)=x(16); 75 | dx(16)=u_10; 76 | 77 | dx(17)=x(18); 78 | dx(18)=u_11; 79 | 80 | dx(19)=x(20); 81 | dx(20)=u_12; 82 | 83 | 84 | end -------------------------------------------------------------------------------- /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/topology10_figure4.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Distributed-finite-time-regulation-of-a-class-of-networked-heterogeneous-multi-agent-systems/65d51a1f351a9b6702bce0e33d0f1f1912267353/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/topology10_figure4.m -------------------------------------------------------------------------------- /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/topology11_figure4.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Distributed-finite-time-regulation-of-a-class-of-networked-heterogeneous-multi-agent-systems/65d51a1f351a9b6702bce0e33d0f1f1912267353/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/topology11_figure4.m -------------------------------------------------------------------------------- /Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/邹志华.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Distributed-finite-time-regulation-of-a-class-of-networked-heterogeneous-multi-agent-systems/65d51a1f351a9b6702bce0e33d0f1f1912267353/Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems/邹志华.pdf --------------------------------------------------------------------------------