└── Fixed-time consensus algorithm for second-order multi-agent systems with bounded disturbances ├── ode45_protocol_5.m ├── ode45_protocol_5f.m ├── protocol_5.m ├── sig.m └── 邹志华.pdf /Fixed-time consensus algorithm for second-order multi-agent systems with bounded disturbances/ode45_protocol_5.m: -------------------------------------------------------------------------------- 1 | clear all; 2 | close all; 3 | x0=[-8 -2 2 6 9 2 1 3 2 1]; 4 | ts=0.01; 5 | T=6; 6 | TimeSet=[0:ts:T]; 7 | u=zeros(101,5); 8 | [t,y]=ode45('ode45_protocol_5f',TimeSet,x0); 9 | 10 | x1=y(:,1); 11 | x2=y(:,2); 12 | x3=y(:,3); 13 | x4=y(:,4); 14 | x5=y(:,5); 15 | x6=y(:,6); 16 | x7=y(:,7); 17 | x8=y(:,8); 18 | x9=y(:,9); 19 | x10=y(:,10); 20 | figure(1); 21 | plot(t,x1,t,x2,t,x3,t,x4,t,x5); 22 | xlabel('time(s)');ylabel('positions of agents'); 23 | figure(2); 24 | plot(t,x6,t,x7,t,x8,t,x9,t,x10,'m--'); 25 | xlabel('time(s)');ylabel('velocities of agents'); 26 | 27 | -------------------------------------------------------------------------------- /Fixed-time consensus algorithm for second-order multi-agent systems with bounded disturbances/ode45_protocol_5f.m: -------------------------------------------------------------------------------- 1 | function dx=ode45_protocol_5f (t,x) 2 | dx=zeros(10,1); 3 | % u=zeros(101,5); 4 | c1=2;c2=2; 5 | c3=0.25;c4=1; 6 | a=0.7;b=1.2; 7 | r1=2;r2=2; 8 | p=0.5;q=1.5; 9 | F=0; 10 | e1=x(6)+c1*sig(x(1)-x(2)+x(1)-x(3),a)+c2*sig(x(1)-x(2)+x(1)-x(3),b); 11 | e2=x(7)+c1*sig(x(2)-x(1)+x(2)-x(3)+x(2)-x(5),a)+c2*sig(x(2)-x(1)+x(2)-x(3)+x(2)-x(5),b); 12 | e3=x(8)+c1*sig(x(3)-x(1)+x(3)-x(2)+x(3)-x(4),a)+c2*sig(x(3)-x(1)+x(3)-x(2)+x(3)-x(4),b); 13 | e4=x(9)+c1*sig(x(4)-x(3)+x(4)-x(5),a)+c2*sig(x(4)-x(3)+x(4)-x(5),b); 14 | e5=x(10)+c1*sig(x(5)-x(4)+x(5)-x(2),a)+c2*sig(x(5)-x(4)+x(5)-x(2),b); 15 | u(1)=-c3*sig(e1,p)-c4*sig(e1,q)-c1*a*abs(x(1)-x(2)+x(1)-x(3))^(a-1)*(x(6)-x(7)+x(6)-x(8))-c2*b*abs(x(1)-x(2)+x(1)-x(3))^(b-1)*(x(6)-x(7)+x(6)-x(8))-F*sign(e1); 16 | u(2)=-c3*sig(e2,p)-c4*sig(e2,q)-c1*a*abs(x(2)-x(1)+x(2)-x(3)+x(2)-x(5))^(a-1)*(x(7)-x(6)+x(7)-x(8)+x(7)-x(10))-c2*b*abs(x(2)-x(1)+x(2)-x(3)+x(2)-x(5))^(b-1)*(x(7)-x(6)+x(7)-x(8)+x(7)-x(10))-F*sign(e2); 17 | u(3)=-c3*sig(e3,p)-c4*sig(e3,q)-c1*a*abs(x(3)-x(1)+x(3)-x(2)+x(3)-x(4))^(a-1)*(x(8)-x(6)+x(8)-x(7)+x(8)-x(9))-c2*b*abs(x(3)-x(1)+x(3)-x(2)+x(3)-x(4))^(b-1)*(x(8)-x(6)+x(8)-x(7)+x(8)-x(9))-F*sign(e3); 18 | u(4)=-c3*sig(e4,p)-c4*sig(e4,q)-c1*a*abs(x(4)-x(3)+x(4)-x(5))^(a-1)*(x(9)-x(8)+x(9)-x(10))-c2*b*abs(x(4)-x(3)+x(4)-x(5))^(b-1)*(x(9)-x(8)+x(9)-x(10))-F*sign(e4); 19 | u(5)=-c3*sig(e5,p)-c4*sig(e5,q)-c1*a*abs(x(5)-x(4)+x(5)-x(2))^(a-1)*(x(10)-x(7)+x(10)-x(9))-c2*b*abs(x(5)-x(4)+x(5)-x(2))^(b-1)*(x(10)-x(7)+x(10)-x(9))-F*sign(e5); 20 | 21 | dx(1)=x(6); 22 | dx(2)=x(7); 23 | dx(3)=x(8); 24 | dx(4)=x(9); 25 | dx(5)=x(10); 26 | dx(6)=u(1)+F*sin(t); 27 | dx(7)=u(2)+F*sin(t); 28 | dx(8)=u(3)+F*sin(t); 29 | dx(9)=u(4)+F*sin(t); 30 | dx(10)=u(5)+F*sin(t); 31 | 32 | 33 | end -------------------------------------------------------------------------------- /Fixed-time consensus algorithm for second-order multi-agent systems with bounded disturbances/protocol_5.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Fixed-time-consensus-algorithm-for-second-order-multi-agent-systems/637518ed73d986ddd1069a01256d728d4b857e70/Fixed-time consensus algorithm for second-order multi-agent systems with bounded disturbances/protocol_5.m -------------------------------------------------------------------------------- /Fixed-time consensus algorithm for second-order multi-agent systems with bounded disturbances/sig.m: -------------------------------------------------------------------------------- 1 | function sig = sig(x,u) 2 | sig=sign(x)*abs(x).^u; 3 | end 4 | 5 | -------------------------------------------------------------------------------- /Fixed-time consensus algorithm for second-order multi-agent systems with bounded disturbances/邹志华.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Taoistzou/Fixed-time-consensus-algorithm-for-second-order-multi-agent-systems/637518ed73d986ddd1069a01256d728d4b857e70/Fixed-time consensus algorithm for second-order multi-agent systems with bounded disturbances/邹志华.pdf --------------------------------------------------------------------------------