chap9_3.m

这是关于刘金琨《智能控制》上我自己编写一部分程序

%Self-Correct control based RBF Identification
clear all;
close all;

xite1=0.15;
xite2=0.50;
alfa=0.05;

w=0.5*ones(6,1);
v=0.5*ones(6,1);
 
cij=0.50*ones(1,6);
bj=5*ones(6,1);
h=zeros(6,1);
 
 w_1=w;w_2=w_1;
 v_1=v;v_2=v_1;
 u_1=0;y_1=0;

 ts=0.02;
 for k=1:1:5000
 time(k)=k*ts;
 r(k)=1.0*sin(0.1*pi*k*ts);
 
 %Practical Plant;
 g(k)=0.8*sin(y_1);
 f(k)=15;
 y(k)=g(k)+f(k)*u_1;
 
 for j=1:1:6
    h(j)=exp(-norm(y(k)-cij(:,j))^2/(2*bj(j)*bj(j)));
 end
  
 Ng(k)=w'*h;
 Nf(k)=v'*h;

 ym(k)=Ng(k)+Nf(k)*u_1;
 
 e(k)=y(k)-ym(k);
 
 d_w=0*w;
 for j=1:1:6
    d_w(j)=xite1*e(k)*h(j);
 end
 w=w_1+d_w+alfa*(w_1-w_2);
 
 d_v=0*v;
 for j=1:1:6
    d_v(j)=xite2*e(k)*h(j)*u_1;
 end
 v=v_1+d_v+alfa*(v_1-v_2);
 
 u(k)=-Ng(k)/Nf(k)+r(k)/Nf(k);
 
 u_1=u(k);
 y_1=y(k);
 
 w_2=w_1;
 w_1=w;
 
 v_2=v_1;
 v_1=v;
end

figure(1);
plot(time,r,'r',time,y,'b');
xlabel('Time(second)');ylabel('Position tracking');
figure(2);
plot(time,g,'r',time,Ng,'b');
xlabel('Time(second)');ylabel('g and Ng');
figure(3);
plot(time,f,'r',time,Nf,'b');
xlabel('Time(second)');ylabel('f and Nf');