黄红伟, 黄天民. 事件触发机制下的多智能体领导跟随一致性[J]. 计算机工程与应用, 2017, 53(6): 29-33.
领导者的动态方程描述为：
x ˙ 0 ( t ) = u 0 ( t ) (1) \begin{aligned} \dot{x}_0 (t) &= u_0 (t) \end{aligned} \tag{1} x˙0(t)=u0(t)(1)
跟随者 i i i 的动态方程描述为：
x ˙ i ( t ) = u i ( t ) (2) \begin{aligned} \dot{x}_i (t) &= u_i (t) \end{aligned} \tag{2} x˙i(t)=ui(t)(2)
针对领导跟随多智能体系统(1)~(2)，给出如下控制协议
u i ( t ) = u 0 ( t ) − γ ( ∑ j ∈ N i a i j ( x i ( t ) − x j ( t ) ) + a b i ( x i ( t ) − x 0 ( t ) ) ) (3) \begin{aligned} u_i (t) &= u_0 (t) - \gamma \left( \sum_{j \in N_i} a_{ij} (x_i(t) - x_j(t)) + a b_i (x_i(t) - x_0(t)) \right) \end{aligned} \tag{3} ui(t)=u0(t)−γ j∈Ni∑aij(xi(t)−xj(t))+abi(xi(t)−x0(t)) (3)
原文中没有说清楚这一步怎么来的，所以我做了两种方式
第一种是将 e = [ e 1 , e 2 , e 3 , e 4 , e 5 , e 6 ] ′ e = [e_1, e_2, e_3, e_4, e_5, e_6]' e=[e1,e2,e3,e4,e5,e6]′ 然后带入到式 (8)
main_centralization.m ，效果如下
Times of agent 1 trigger: 144
Times of agent 2 trigger: 144
Times of agent 3 trigger: 144
Times of agent 4 trigger: 144
Times of agent 5 trigger: 144
Times of agent 6 trigger: 144
第二种是依次将 e 1 , e 2 , e 3 , e 4 , e 5 , e 6 e_1, e_2, e_3, e_4, e_5, e_6 e1,e2,e3,e4,e5,e6 然后带入到式 (8)，做或运算判断，即任何一个条件达到都触发
main_centralization2.m ，效果如下
Times of agent 1 trigger: 152
Times of agent 2 trigger: 152
Times of agent 3 trigger: 152
Times of agent 4 trigger: 152
Times of agent 5 trigger: 152
Times of agent 6 trigger: 152
main_distributed.m 程序效果如下
Times of agent 1 trigger: 300
Times of agent 2 trigger: 299
Times of agent 3 trigger: 300
Times of agent 4 trigger: 299
Times of agent 5 trigger: 299
Times of agent 6 trigger: 300
main_distributed2.m 程序效果如下
Times of agent 1 trigger: 111
Times of agent 2 trigger: 154
Times of agent 3 trigger: 163
Times of agent 4 trigger: 292
Times of agent 5 trigger: 293
Times of agent 6 trigger: 224
需要程序代码可加+V：Zhao-Jichao
