matlab_模糊控制技术轨迹跟踪问题，利用simulink搭建仿真系统进行了仿真

function [sys,x0,str,ts] = controller_four(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 sizes = simsizes; sizes.NumContStates = 6*3^4+7; sizes.NumDiscStates = 0; sizes.NumOutputs = 2; sizes.NumInputs = 8; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 0; sys = simsizes(sizes); for i=1:6*3^4 x0(i) = 0; end for i=6*3^4+1:6*3^4+2 %ep_f x0(i)=0; end for i=6*3^4+3:6*3^4+6 %ep_g x0(i)=0; end %for i=8*3^4+7:8*3^4+8 %ep_p % x0(i)=0; %end x0(6*3^4+7)=5.0; %delta str = []; ts = []; function sys=mdlDerivatives(t,x,u) global uc ur yd1=u(1); yd2=u(2); dyd1=0.1*cos(t); dyd2=0.1*cos(t); ddyd1=-0.1*sin(t); ddyd2=-0.1*sin(t); x1=u(3);x2=u(4); x3=u(5);x4=u(6); e1=x1-yd1; e2=x3-yd2; de1=x2-dyd1; de2=x4-dyd2; nmn1=80;nmn2=40; beta11=nmn1;beta21=nmn2; v1=beta11*de1-ddyd1; v2=beta21*de2-ddyd2; v=[v1 v2]'; xs1=500; s1=de1+nmn1*e1; s2=de2+nmn2*e2; s=[s1 s2]'; %Control law (26) umm=1; ungg=0.2; u1(1)=exp(-1/2*((x(1)+umm)/ungg)^2); u1(2)=exp(-1/2*(x(1)/ungg)^2); u1(3)=exp(-1/2*((x(1)-umm)/ungg)^2); u2(1)=exp(-1/2*((x(2)+umm)/ungg)^2); u2(2)=exp(-1/2*(x(2)/ungg)^2); u2(3)=exp(-1/2*((x(2)-umm)/ungg)^2); u3(1)=exp(-1/2*((x(3)+umm)/ungg)^2); u3(2)=exp(-1/2*(x(3)/ungg)^2); u3(3)=exp(-1/2*((x(3)-umm)/ungg)^2); u4(1)=exp(-1/2*((x(4)+umm)/ungg)^2); u4(2)=exp(-1/2*(x(4)/ungg)^2); u4(3)=exp(-1/2*((x(4)-umm)/ungg)^2); %u5(1)=lishuduhs(s(1),0.6,0.2); %u5(2)=lishuduhs(s(1),0,0.2); %u5(3)=lishuduhs(s(1),-0.6,0.2); %u6(1)=lishuduhs(s(2),0.6,0.2); %u6(2)=lishuduhs(s(2),0,0.2); %u6(3)=lishuduhs(s(2),-0.6,0.2); %u7(1)=lishuduhs(u(7),5,2); %u7(2)=lishuduhs(u(7),0,2); %u7(3)=lishuduhs(u(7),-5,2); %u8(1)=lishuduhs(u(8),5,2); %u8(2)=lishuduhs(u(8),0,2); %u8(3)=lishuduhs(u(8),-5,2); FS1=0; FS2=zeros(3^4,1); for L1=1:3 for L2=1:3 for L3=1:3 for L4=1:3 FS2(3^3*(L1-1)+3^2*(L2-1)+3*(L3-1)+L4)=u1(L1)*u2(L2)*u3(L3)*u4(L4); FS1=FS1+u1(L1)*u2(L2)*u3(L3)*u4(L4); end end end end FS=FS2/FS1; %FS3=0; %FS4=zeros(3^4,1); %for L1=1:3 % for L2=1:3 % for L3=1:3 % for L4=1:3 % FS4(3^3*(L1-1)+3^2*(L2-1)+3*(L3-1)+L4)=u5(L1)*u6(L2)*u7(L3)*u8(L4); % FS3=FS3+u5(L1)*u6(L2)*u7(L3)*u8(L4); % end % end % end %end %FS5=FS4/FS3; w_f1=FS;w_f2=FS; w_g11=FS;w_g12=FS; w_g21=FS;w_g22=FS; %w_p1=FS;w_p2=FS; thtaf1=x(1:3^4); thtaf2=x(3^4+1:3^4*2); thtag11=x(3^4*2+1:3^4*3); thtag12=x(3^4*3+1:3^4*4); thtag21=x(3^4*4+1:3^4*5); thtag22=x(3^4*5+1:3^4*6); %thtap1=x(3^4*6+1:3^4*7); %thtap2=x(3^4*7+1:3^4*8); f1=w_f1'*thtaf1; f2=w_f2'*thtaf2; g11=w_g11'*thtag11; g12=w_g12'*thtag12; g21=w_g21'*thtag21; g22=w_g22'*thtag22; %p1=w_p1'*thtap1; %p2=w_p2'*thtap2; ep_f=x(3^4*6+1:3^4*6+2); ep_g11=x(6*3^4+3); ep_g12=x(6*3^4+4); ep_g21=x(6*3^4+5); ep_g22=x(6*3^4+6); ep_g=[ep_g11 ep_g12;ep_g21 ep_g22]; %ep_p=x(3^4*8+7:3^4*8+8); delta=x(3^4*6+7); F=[f1 f2]'; %P=[p1 p2]'; G=[g11 g12;g21 g22]; k1=100; k11=100; b=[0.1 0.1]'; uc=G*(-F-v-k11*s); ur=s*(abs(s')*(ep_f+ep_g*abs(uc)))/(norm(s)^2+delta); xite_f1=0.5; xite_f2=0.5; xite_g11=0.5; xite_g12=0.5; xite_g21=0.5; xite_g22=0.5; %xite_p1=0.6; %xite_p2=0.6; xite0=0.0001; %F for i=1:1:3^4 sys(i)=-xite_f1*w_f1(i)*s(1); end for i=3^4+1:1:2*3^4 sys(i)=-xite_f2*w_f2(i-3^4)*s(2); end %G for i=2*3^4+1:1:3*3^4 sys(i)=-xite_g11*w_g11(i-2*3^4)*s(1)*(uc(1)-k1*s(1)); end for i=3*3^4+1:1:4*3^4 sys(i)=-xite_g12*w_g12(i-3*3^4)*s(1)*(uc(2)-k1*s(2)); end for i=4*3^4+1:1:5*3^4 sys(i)=-xite_g21*w_g21(i-4*3^4)*s(2)*(uc(1)-k1*s(1)); end for i=5*3^4+1:1:6*3^4 sys(i)=-xite_g22*w_g22(i-5*3^4)*s(2)*(uc(2)-k1*s(2)); end %for i=6*3^4+1:1:7*3^4 % sys(i)=-xite_p1*w_p1(i-6*3^4)*s(1); %end %for i=7*3^4+1:1:8*3^4 % sys(i)=-xite_p2*w_p1(i-7*3^4)*s(2); %end gama0=0.001; %ep_f sys(6*3^4+1)=gama0*(abs(s(1))); %ep_f1 sys(6*3^4+2)=gama0*(abs(s(2))); %ep_f2 %ep_g sys(6*3^4+3)=gama0*(abs(s(1)))*abs(uc(1)); %ep_g11 sys(6*3^4+4)=gama0*(abs(s(1)))*abs(uc(2)); %ep_g12 sys(6*3^4+5)=gama0*(abs(s(2)))*abs(uc(1)); %ep_g21 sys(6*3^4+6)=gama0*(abs(s(2)))*abs(uc(2)); %ep_g22 %ep_p %sys(8*3^4+7)=gama0*(abs(s(1))); %ep_p1 %sys(8*3^4+8)=gama0*(abs(s(2))); %ep_p2 %delta %ace=norm(s)^2+delta; sys(6*3^4+7)=-xite0*(abs(s')*(ep_f+ep_g*abs(uc)))/(norm(s)^2+delta); function sys=mdlOutputs(t,x,u) global uc ur if t==0 uc=zeros(2,1); ur=zeros(2,1); end ut=uc+ur; sys(1)=ut(1); sys(2)=ut(2);