RBF神经网络matlab代码.zip

%%%%%%多入多出闭环PD迭代学习控制 %PID type learning control clear all; close all; t=[0:0.01:20]';%设置仿真时间20s k(1:301)=0; %总共301个点 k=k'; T1(1:301)=0; %控制系统输入，共两个输入都为列向量 T1=T1'; T2=T1; T=[T1 T2]; k1(1:301)=0; %Total initial points k1变量的第1个到301个元素全部赋为0 k1=k1'; %k1为列向量 E1(1:301)=0; E1=E1'; E2=E1;%E2，E3，E4全为列向量 E3=E1; E4=E1; E=[E1 E2 E3 E4];%用来保存两个信号的误差和误差的导数项 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% M=20;%%%%%%%%%%最大迭代次数，可以修改 for i=0:1:M % M迭代次数 i; %在命令窗口显示迭代了多少了 pause(0.01); sim('chap6_2sim',[0,20]);%%simulink仿真 x1=x(:,1);%%%迭代后输出 x2=x(:,2); x3=x(:,3); x4=x(:,4); x1d=xd(:,1);%%%%%两个期望值和各自的导数项存放在xd中 x2d=xd(:,2); dx1d=xd(:,3); dx2d=xd(:,4); e1=E(:,1);%%%%误差和误差导数放在E中 e2=E(:,2); de1=E(:,3); de2=E(:,4); e=[e1 e2]'; de=[de1 de2]'; figure(1); subplot(211); plot(t,xd(:,1),'r',t,x(:,1),'k:','linewidth',2);%x(:,1)期望的角度，x(:,5)跟踪的角度 xlabel('time(s)');ylabel('Position tracking for hip'); legend('ideal position for hip','position tracking for hip');%髋关节的角度跟踪 subplot(212); plot(t,xd(:,2),'r',t,x(:,2),'k:','linewidth',2); xlabel('time(s)');ylabel('Position tracking for knee'); legend('ideal position for knee','position tracking for knee');%膝关节的角度跟踪 figure(2); subplot(211); plot(t,xd(:,3),'r',t,x(:,3),'k:','linewidth',2);%x(:,3)期望的角速度，x(:,6)跟踪的角速度 xlabel('time(s)');ylabel('Speed tracking for hip'); legend('ideal speed for hip','speed tracking for hip');%髋关节的速度跟踪 subplot(212); plot(t,xd(:,4),'r',t,x(:,4),'k:','linewidth',2); xlabel('time(s)');ylabel('Speed tracking for knee'); legend('ideal speed for knee','speed tracking for knee');%膝关节的速度跟踪 j=i+1; times(j)=i;%%%%迭代的次数用数组表示 便于绘制迭代次数和误差的曲线 e1i(j)=max(abs(e1)); e2i(j)=max(abs(e2)); de1i(j)=max(abs(de1)); de2i(j)=max(abs(de2)); end %迭代过程结束 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% figure(3); subplot(211); plot(t,Tol(:,1),'r','linewidth',2); xlabel('time(s)');ylabel('Control input of hip');%髋关节的控制输入 subplot(212); plot(t,Tol(:,1),'r','linewidth',2); xlabel('time(s)');ylabel('Control input of knee');%膝关节的控制输入 figure(4); subplot(211); plot(t,f(:,1),'r',t,f(:,2),'k:','linewidth',2);%f(:,1)实际不确定性，f(:,2)估计不确定性 xlabel('time(s)');ylabel('f1 and fn1'); legend('Practical uncertainties of hip','Estimation uncertainties of hip');%髋关节的实际不确定性与髋关节的估计不确定性 subplot(212); plot(t,f(:,3),'r',t,f(:,4),'k:','linewidth',2);%f(:,3)实际不确定性，f(:,4)估计不确定性 xlabel('time(s)');ylabel('f2 and fn2'); legend('Practical uncertainties of knee','Estimation uncertainties of knee');%膝关节的实际不确定性与膝关节的估计不确定性 % figure(5); % subplot(211); % plot(t,qd1,'r',t,q1,'b:','linewidth',2); % xlabel('time(s)');ylabel('Angle tracking tracking of hip'); % subplot(212); % plot(t,qd2,'r',t,q2,'b:','linewidth',2); % xlabel('time(s)');ylabel('Angle tracking tracking of knee'); % % figure(6); % subplot(211); % plot(t,dqd1,'r',t,qd1,'b:','linewidth',2); % xlabel('time(s)');ylabel('Angle speed tracking tracking of hip'); % subplot(212); % plot(t,dqd2,'r',t,qd2,'b:','linewidth',2); % xlabel('time(s)');ylabel('Angle speed tracking tracking of knee'); figure(7); subplot(211);%%%%绘制误差与迭代次数的关系 plot(times,e1i,'*-r',times,e2i,'o- b','linewidth',2); title('The maximum absolute value of error with the number of iterations');%最大绝对值误差随迭代次数的变化 xlabel('The number of iterations');ylabel('error1 and error2'); subplot(212); plot(times,de1i,'*-r',times,de2i,'o- b','linewidth',2); title('The maximum absolute value of error with the number of iterations');%最大绝对值误差的变化率随迭代次数的变化 xlabel('The number of iterations');ylabel('error1 and error2');