【Paper】2019_Event-triggered based scaled consensus for multi-agent systems

Wu X, Mu X. Event-triggered based scaled consensus for multi-agent systems[C]//2019 Chinese Control Conference (CCC). IEEE, 2019: 5544-5549.

1 Introduction

2 Preparation and problem description

2.1 Graph theory

2.2 Problem formulation

$${\dot{x}}_i(t)=u_i(t)\text{\hspace{1em}(1)}$$

3 Centralized approach

$$u_i(t)=\sum _{j\in N_i}{a}_{ij}({\alpha }_{ij}{x}_j(t)-x_i(t))\text{\hspace{1em}(2)}$$

4 Distributed approach

5 Simulation

5.1 Centralized case

5.2 Distributed case

程序名字：Main_Centralized.m

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Ref

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程序有偿，需要代码可加+V：Zhao-Jichao