CMACnoLEARN.rar_CMAC nonlinear_CMAC 函数_CMAC 逼近 MATLAB_cmac ma

%CMAC and PID Concurrent Control clear all; close all; %%%%%%%%%%%%%%%%初始化%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% ts=0.001; alfa=0.9; N=500;C=5; w=zeros(N+C,1); w_1=w;w_2=w;d_w=w; x=[0,0,0]'; error_1=0; %Input signal Range A=1.80; Smin=-A; Smax=A; xite=0.10; %%%%%%%%%%%%%%%%%CMAC神经网%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %Coding Input Value 量化 dvi=(Smax-Smin)/(N-1); for i=1:1:C %C size v(i)=Smin; end for i=C+1:1:C+N %N size v(i)=v(i-1)+dvi; end for i=N+C+1:1:N+2*C %C size v(i)=Smax; end for k=1:1:1000 time(k)=k*ts; % Input singnal rin(k)=1.0*sin(2*pi*3*k*ts)+0.5*sin(2*pi*5*k*ts)+0.3*sin(2*pi*7*k*ts)+0.4*sin(2*pi*10*k*ts); %映射到概念存储器Ap for i=1:1:N+C if rin(k)>=v(i)&rin(k)<=v(i+C) a(i)=1; else a(i)=0; end end %CMAC Neural Network Controller Output un(k)=a*w; u(k)=rin(k); yout(k)=un(k); error(k)=rin(k)-yout(k); % if k==150 %Disturbance 加入扰动 % u(k)=u(k)+5.0; % end %Update NN Weight d_w=xite*(u(k)-un(k))/C; w=w_1+ d_w+alfa*(w_1-w_2); %Parameters Update w_2=w_1;w_1=w; end figure(1); subplot(2,1,1) plot(time,rin,'c',time,un,':'); grid on subplot(2,1,2) plot(time,error,'-'); grid on