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（i）?=?-r*omega*sin（omega*t+2*pi*（i-1）/5）;%期望編隊位置Y
????dh_vY（i）=?-r*omega^2*cos（omega*t+2*pi*（i-1）/5）;%期望編隊速度Y
????%%?Application?3
%?????dh_xX（i）?=?r*omega*cos（omega*t）;%期望編隊位置X
%?????dh_vX（i）?=?-r*omega^2*sin（omega*t）;%期望編隊速度X
%?????dh_xY（i）?=?2*r*omega*cos（2*omega*t）;%期望編隊位置Y
%?????dh_vY（i）=??-4*r*omega^2*sin（2*omega*t）;%期望編隊速度Y
end
y11?=?[dh_vX（:1）?dh_vY（:1）];
y12?=?[dh_vX（:2）?dh_vY（:2）];
y13?=?[dh_vX（:3）?dh_vY（:3）];
y14?=?[dh_vX（:4）?dh_vY（:4）];
y15?=?[dh_vX（:5）?dh_vY（:5）];

y21?=?[dh_xX（:1）?dh_xY（:1）];
y22?=?[dh_xX（:2）?dh_xY（:2）];
y23?=?[dh_xX（:3）?dh_xY（:3）];
y24?=?[dh_xX（:4）?dh_xY（:4）];
y25?=?[dh_xX（:5）?dh_xY（:5）];
y1?=?[y11?y12??y13??y14??y15];
y2?=?[y21?y22??y23??y24??y25];
y?=?y1;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-10-24?16:10??Matlab?code?for?multi-agent?control\
?????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