net_105.m

用神经网络实现六自由度平台的姿态症结问题

load PC_105 pc105
load LC_105 lc105
p=lc105;
t=pc105;

sizeofp=size(p);
sizeoft=size(t);
pause
[R,Q]=size(p)
pause
clc
[pn,meanp,stdp,tn,meant,stdt] = prestd(p,t);
iitst=2:4:Q;
iival=4:4:Q;
iitr=[1:4:Q 3:4:Q];
val.p=pn(:,iival)
val.t=tn(:,iival)
test.p=pn(:,iitst)
test.t=tn(:,iitst)
ptr=pn(:,iitr)
ttr=tn(:,iitr)
pause
clc
net=newff(minmax(ptr),[6,50,6],{'tansig','logsig','purelin'},'traingdm');
net.trainFcn='trainbr';
net.trainParam.epochs=2000;
net.trainParam.goal=0.1;
net=init(net);

pause
%[net,tr]=trainbpx(net,ptr,ttr,[],[]);
%plot(tr.epoch,tr.perf,tr.epoch,tr.vperf,':',tr.epoch,tr.tperf,'-')
%legend('training','validation','test',-1);
%ylabel('squared error');
%xlabel('epoch');
%pause

net=train(net,pn,tn);
a=sim(net,pn);
e=a-tn;
save a.mat a
save e.mat e



%a = poststd(a,meant,stdt);
%[m,b,r] = postreg(a,t)
%[w3,b3,w4,b4,epochs,erros]=trainbp(w1,b1,'tansig',w2,b2,'purelin',p,t,TP);
%ploterr(erros)
%echo off
disp('!!!!!!!!!!!!!!!!!THE END,kai shi chu tu !!!!!!!!!!!!!!!!!!');
for i=1:6
plot(1:Q,a(i));
xlabel('a');
pause;
plot(1:Q,e(i));
xlabel('e');
pause;
end;