function?y?=?dfcn_ht（u）
t?=?u;
r?=?10;
d?=?5;
omega?=?0.1;
g?=?zeros（15）;
dh_xX?=?zeros（15）;
dh_vX?=?zeros（15）;
dh_xY?=?zeros（15）;
dh_vY?=?zeros（15）;
for?i?=?1:5
???%%?Application1
%??????g（i）?=?sign（sin（omega*t/2+pi*（i-1）/5））;
%?????dh_xX（i）?=?omega*r*cos（omega*t?+?（2*pi*（i?-?1））/5?-?1）*cos（（omega*t）/2?+?（pi*（i?-?1））/5）*dirac（sin（（omega*t）/2?+?（pi*（i?-?1））/5））?-?omega*r*sign（sin（（omega*t）/2?+?（pi*（i?-?1））/5））*sin（omega*t?+?（2*pi*（i?-?1））/5?-?1）;%期望編隊位置X
%?????dh_vX（i）?=?-?omega^2*r*sign（sin（（omega*t）/2?+?（pi*（i?-?1））/5））*cos（omega*t?+?（2*pi*（i?-?1））/5）?-?omega^2*r*cos（（omega*t）/2?+?（pi*（i?-?1））/5）*sin（omega*t?+?（2*pi*（i?-?1））/5）*dirac（sin（（omega*t）/2?+?（pi*（i?-?1））/5））;%期望編隊速度X導數
%?????dh_xY（i）?=?omega*r*cos（omega*t?+?（2*pi*（i?-?1））/5）;%期望編隊位置Y
%?????dh_vY（i）=?-omega^2*r*sin（omega*t?+?（2*pi*（i?-?1））/5）;%期望編隊速度Y
????%%?Application2
????dh_xX（i）?=?r*omega*cos（（omega*t+2*pi*（i-1）/5））;%期望編隊位置X
????dh_vX（i）?=?-r*omega^2*sin（omega*t+2*pi*（i-1）/5）;%期望編隊速度X
????dh_xY（

?屬性????????????大小?????日期????時間???名稱
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?????文件???????1811??2018-03-29?21:57??Matlab?code?for?multi-agent?control\dfcn_ht.m

?????文件???????4215??2018-03-30?13:06??Matlab?code?for?multi-agent?control\Dong2015IEEECST.m

?????文件??????30775??2018-03-30?13:17??Matlab?code?for?multi-agent?control\Dong2015IEEECST1.slx

?????文件???????1607??2018-04-04?15:43??Matlab?code?for?multi-agent?control\fcn_ht.m

?????文件???????5987??2018-03-30?13:07??Matlab?code?for?multi-agent?control\PLOT_Dong.m

?????文件?????????99??2018-10-24?16:12??Matlab?code?for?multi-agent?control\README.txt

?????文件????1358931??2017-11-20?17:17??Matlab?code?for?multi-agent?control\Time-Varying?Formation?Control?for?Unmanned?Aerial?VehiclesTheories?and?Applications-2015.pdf

?????目錄??????????0??2018-10-24?16:10??Matlab?code?for?multi-agent?control

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??????????????1403425????????????????????8