function [sys,x0,str,ts] = spacemodel(t,x,u,flag)
switch flag,
case 0,
[sys,x0,str,ts]=mdlInitializeSizes;
case 1,
sys=mdlDerivatives(t,x,u);
case 3,
sys=mdlOutputs(t,x,u);
case {2,4,9}
sys=[];
otherwise
error(['Unhandled flag = ',num2str(flag)]);
end
function [sys,x0,str,ts]=mdlInitializeSizes
global node c_M c_C c_G b ce
node=7;
c_M=zeros(2,node);
c_G=zeros(2,node);
c_C=zeros(4,node);
c_M=[0.25 0.5 0.75 1 1.25 1.5 1.75;
0.25 0.5 0.75 1 1.25 1.5 1.75];
c_G=[0.25 0.5 0.75 1 1.25 1.5 1.75;
0.25 0.5 0.75 1 1.25 1.5 1.75];
c_C=[0.25 0.5 0.75 1 1.25 1.5 1.75;
0.25 0.5 0.75 1 1.25 1.5 1.75;
-1.5 -1 -0.5 0 0.5 1.0 1.50;
-1.5 -1 -0.5 0 0.5 1.0 1.50];
b=10;
ce=15.0;
sizes = simsizes;
sizes.NumContStates = 10*node;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 5;
sizes.NumInputs = 10;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 0;
sys = simsizes(sizes);
x0 = zeros(1,10*node);
str = [];
ts = [];
function sys=mdlDerivatives(t,x,u)
global node c_M c_C c_G b ce
xd1=u(1);
d_xd1=u(2);
dd_xd1=u(3);
xd2=u(4);
d_xd2=u(5);
dd_xd2=u(6);
x1=u(7);
d_x1=u(8);
x2=u(9);
d_x2=u(10);
xx=[x1;x2];
for j=1:1:node
h_M11(j)=exp(-norm(xx-c_M(:,j))^2/(b*b));
h_M12(j)=exp(-norm(xx-c_M(:,j))^2/(b*b));
h_M21(j)=exp(-norm(xx-c_M(:,j))^2/(b*b));
h_M22(j)=exp(-norm(xx-c_M(:,j))^2/(b*b));
end
for j=1:1:node
h_G1(j)=exp(-norm(xx-c_G(:,j))^2/(b*b));
h_G2(j)=exp(-norm(xx-c_G(:,j))^2/(b*b));
end
z=[x1;x2;d_x1;d_x2];
for j=1:1:node
h_C11(j)=exp(-norm(z-c_C(:,j))^2/(b*b));
h_C12(j)=exp(-norm(z-c_C(:,j))^2/(b*b));
h_C21(j)=exp(-norm(z-c_C(:,j))^2/(b*b));
h_C22(j)=exp(-norm(z-c_C(:,j))^2/(b*b));
end
W_M11=[x(1:node)]';
W_M12=[x(node+1:node*2)]';
W_M21=[x(node*2+1:node*3)]';
W_M22=[x(node*3+1:node*4)]';
e1=xd1-x1;
e2=xd2-x2;
de1=d_xd1-d_x1;
de2=d_xd2-d_x2;
e=[e1;e2];
de=[de1;de2];
Hur=ce*eye(2);
r=de+Hur*e;
dxd=[d_xd1;d_xd2];
dxr=dxd+Hur*e;
ddxd=[dd_xd1;dd_xd2];
ddxr=ddxd+Hur*de;
T_M11=2*eye(node);
T_M12=2*eye(node);
T_M21=2*eye(node);
T_M22=2*eye(node);
for i=1:1:node
sys(i)=T_M11(i,i)*h_M11(i)*ddxr(1)*r(1);
sys(i+node)=T_M12(i,i)*h_M12(i)*ddxr(2)*r(1);
sys(i+node*2)=T_M21(i,i)*h_M21(i)*ddxr(1)*r(2);
sys(i+node*3)=T_M22(i,i)*h_M22(i)*ddxr(2)*r(2);
end
W_G1=[x(node*4+1:node*5)]';
W_G2=[x(node*5+1:node*6)]';
T_G1=5*eye(node);
T_G2=5*eye(node);
for i=1:1:node
sys(i+node*4)=T_G1(i,i)*h_G1(i)*r(1);
sys(i+node*5)=T_G2(i,i)*h_G2(i)*r(2);
end
W_C11=[x(node*6+1:node*7)]';
W_C12=[x(node*7+1:node*8)]';
W_C21=[x(node*8+1:node*9)]';
W_C22=[x(node*9+1:node*10)]';
T_C11=0.5*eye(node);
T_C12=0.5*eye(node);
T_C21=0.5*eye(node);
T_C22=0.5*eye(node);
for i=1:1:node
sys(i+node*6)=T_C11(i,i)*h_C11(i)*dxr(1)*r(1);
sys(i+node*7)=T_C12(i,i)*h_C12(i)*ddxr(2)*r(1);
sys(i+node*8)=T_C21(i,i)*h_C21(i)*dxr(1)*r(2);
sys(i+node*9)=T_C22(i,i)*h_C22(i)*ddxr(2)*r(2);
end
function sys=mdlOutputs(t,x,u)
global node c_M c_C c_G b ce
xd1=u(1);
d_xd1=u(2);
dd_xd1=u(3);
xd2=u(4);
d_xd2=u(5);
dd_xd2=u(6);
x1=u(7);
d_x1=u(8);
x2=u(9);
d_x2=u(10);
xx=[x1;x2];
for j=1:1:node
h_M11(j)=exp(-norm(xx-c_M(:,j))^2/(b*b));
h_M12(j)=exp(-norm(xx-c_M(:,j))^2/(b*b));
h_M21(j)=exp(-norm(xx-c_M(:,j))^2/(b*b));
h_M22(j)=exp(-norm(xx-c_M(:,j))^2/(b*b));
end
for j=1:1:node
h_G1(j)=exp(-norm(xx-c_G(:,j))^2/(b*b));
h_G2(j)=exp(-norm(xx-c_G(:,j))^2/(b*b));
end
z=[x1;x2;d_x1;d_x2];
for j=1:1:node
h_C11(j)=exp(-norm(z-c_C(:,j))^2/(b*b));
h_C12(j)=exp(-norm(z-c_C(:,j))^2/(b*b));
h_C21(j)=exp(-norm(z-c_C(:,j))^2/(b*b));
h_C22(j)=exp(-norm(z-c_C(:,j))^2/(b*b));
end
W_M11=[x(1:node)]';
W_M12=[x(node+1:node*2)]';
W_M21=[x(node*2+1:node*3)]';
W_M22=[x(node*3+1:node*4)]';
MSNN_g=[W_M11*h_M11' W_M12*h_M12';
W_M21*h_M21' W_M22*h_M22'];
norm_Mp=norm(MSNN_g);
W_G1=[x(node*4+1:node*5)]';
W_G2=[x(node*5+1:node*6)]';
GSNN_g=[W_G1*h_G1';
W_G2*h_G2'];
norm_Gp=norm(GSNN_g);
W_C11=[x(node*6+1:node*7)]';
W_C12=[x(node*7+1:node*8)]';
W_C21=[x(node*8+1:node*9)]';
W_C22=[x(node*9+1:node*10)]';
CDNN_g=[W_C11*h_C11' W_C12*h_C12';
W_C21*h_C21' W_C22*h_C22'];
norm_Cp=norm(CDNN_g);
e1=xd1-x1;
e2=xd2-x2;
de1=d_xd1-d_x1;
de2=d_xd2-d_x2;
e=[e1;e2];
de=[de1;de2];
Hur=ce*eye(2);
r=de+Hur*e;
dxd=[d_xd1;d_xd2];
dxr=dxd+Hur*e;
ddxd=[dd_xd1;dd_xd2];
ddxr=ddxd+Hur*de;
Ks=0.5;
K=30*eye(2);
Fx=MSNN_g*ddxr+CDNN_g*dxr+GSNN_g+K*r+Ks*sign(r);
sys(1)=Fx(1);
sys(2)=Fx(2);
sys(3)=norm_Mp;
sys(4)=norm_Cp;
sys(5)=norm_Gp;
没有合适的资源?快使用搜索试试~ 我知道了~
RBF神经网络控制设计、分析及Matlab仿真程序
共170个文件
m:136个
mdl:28个
r2011a:2个
需积分: 35 61 下载量 119 浏览量
2018-10-23
10:10:15
上传
评论 2
收藏 264KB RAR 举报
温馨提示
RBF神经网络控制设计、分析及Matlab仿真程序。清华大学刘金琨的原套课件程序
资源推荐
资源详情
资源评论
收起资源包目录
RBF神经网络控制设计、分析及Matlab仿真程序 (170个子文件)
chap6_1ctrl.asv 2KB
chap2_7.asv 2KB
chap7_4ctrl.m 5KB
chap7_3ctrl.m 4KB
chap9_3.m 4KB
chap6_2ctrl.m 3KB
chap9_2.m 2KB
chap6_6ctrl.m 2KB
chap6_1ctrl.m 2KB
chap6_4ctrl.m 2KB
chap7_2ctrl.m 2KB
chap7_4plant.m 2KB
chap6_4plant.m 2KB
chap4_5ctrl.m 2KB
chap4_3ctrl.m 2KB
chap8_3ctrl.m 2KB
chap7_4plot.m 2KB
chap5_2ctrl.m 2KB
chap3_1.m 2KB
chap8_2ctrl.m 2KB
chap4_4ctrl.m 2KB
chap4_2ctrl.m 2KB
chap6_2plant.m 2KB
chap2_7.m 2KB
chap6_5ctrl.m 1KB
chap8_3x3_bar.m 1KB
chap7_3plot.m 1KB
chap8_2x3_bar.m 1KB
chap4_1ctrl.m 1KB
chap7_3plant.m 1KB
chap2_6.m 1KB
chap7_1ctrl.m 1KB
chap6_3ctrl.m 1KB
chap8_2x2_bar.m 1KB
chap7_3input.m 1KB
chap11_3rbf.m 1KB
chap5_1ctrl.m 1KB
chap11_2rbf.m 1KB
chap11_4rbf.m 1KB
chap8_2plot.m 1KB
chap5_3ctrl.m 1KB
chap6_2plot.m 1KB
chap8_3int.m 1KB
chap10_5.m 1KB
chap3_3.m 1KB
chap6_6plant.m 1KB
chap10_4.m 1KB
chap2_4.m 1KB
chap10_2.m 1KB
chap7_1plant.m 1KB
chap6_4plot.m 1KB
chap10_1.m 1KB
chap6_6plot.m 1KB
chap5_2plant.m 1KB
chap3_2.m 1KB
chap11_3plant.m 1KB
chap5_3plant.m 1KB
chap5_1plant.m 1KB
chap4_2plant.m 1KB
chap8_3plot.m 1022B
chap8_2plant.m 1016B
chap11_4plot.m 991B
chap2_2rbf.m 991B
chap7_1plot.m 984B
chap2_3rbf.m 981B
chap2_9a.m 973B
chap7_2plant.m 968B
chap1_1input.m 961B
chap1_1ctrl.m 954B
chap2_8a.m 933B
chap2_5.m 929B
chap2_1rbf.m 919B
chap7_2plot.m 912B
chap4_5plant.m 897B
chap8_3plant.m 893B
chap11_3obv.m 874B
chap11_4obv.m 873B
chap11_2obv.m 872B
chap7_4input.m 844B
chap11_2plant.m 838B
chap11_4plant.m 838B
chap11_4ctrl.m 836B
chap7_1input.m 829B
chap7_3i.m 823B
chap7_1i.m 813B
chap6_5plot.m 812B
chap6_4input.m 805B
chap4_1plant.m 796B
chap4_3plant.m 790B
chap6_2input.m 779B
chap6_5plant.m 776B
chap2_2plot.m 766B
chap5_2plot.m 764B
chap8_1ctrl.m 746B
chap6_3plant.m 745B
chap6_1plant.m 744B
chap8_1plant.m 736B
chap1_1plant.m 734B
chap4_4plant.m 728B
chap8_3filter1.m 724B
共 170 条
- 1
- 2
资源评论
qq_31331021
- 粉丝: 2
- 资源: 4
上传资源 快速赚钱
- 我的内容管理 展开
- 我的资源 快来上传第一个资源
- 我的收益 登录查看自己的收益
- 我的积分 登录查看自己的积分
- 我的C币 登录后查看C币余额
- 我的收藏
- 我的下载
- 下载帮助
安全验证
文档复制为VIP权益,开通VIP直接复制
信息提交成功