mirror of
https://github.com/ohmyjesus/RBF_NeuralNetwork.git
synced 2026-02-05 19:25:37 +08:00
固定时间神经网络
This commit is contained in:
iHoney725
GitHub
BIN
Fixed_time_NN.slx
Normal file
BIN
Fixed_time_NN.slx
Normal file
Binary file not shown.
265
Fixed_time_NNcontroller.m
Normal file
265
Fixed_time_NNcontroller.m
Normal file
@@ -0,0 +1,265 @@
|
||||
function [sys,x0,str,ts] = Fixed_time_NNcontroller(t,x,u,flag)
|
||||
% 以下程序是 基于RBF神经网络的直接鲁棒自适应控制
|
||||
switch flag
|
||||
case 0 %初始化
|
||||
[sys,x0,str,ts]=mdlInitializeSizes;
|
||||
case 1 %连续状态计算
|
||||
sys=mdlDerivatives(t,x,u);
|
||||
case {2,4,9} %离散状态计算，下一步仿真时刻，终止仿真设定
|
||||
sys=[];
|
||||
case 3 %输出信号计算
|
||||
sys=mdlOutputs(t,x,u);
|
||||
otherwise
|
||||
DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
|
||||
end
|
||||
|
||||
function [sys,x0,str,ts]=mdlInitializeSizes %系统的初始化
|
||||
global c1 b1 c2 b2 node gama1 gama2 xite belta lg
|
||||
% 神经网络采用2-7-1结构
|
||||
node = 7;
|
||||
c1 = 0.5*[-2 -1.5 -1 0 1 1.5 2;
|
||||
-2 -1.5 -1 0 1 1.5 2;
|
||||
-2 -1.5 -1 0 1 1.5 2;
|
||||
-2 -1.5 -1 0 1 1.5 2]; % 高斯函数的中心点矢量 维度 IN * MID 2*7
|
||||
b1 = 20; % 高斯函数的基宽 维度MID * 1 b的选择很重要 b越大 网路对输入的映射能力越大
|
||||
gama1 = 10;
|
||||
lg = 2;
|
||||
xite = 20; % 控制器的参数
|
||||
|
||||
c2 = 1.8*[-2 -1.5 -1 0 1 1.5 2;
|
||||
-2 -1.5 -1 0 1 1.5 2;
|
||||
-2 -1.5 -1 0 1 1.5 2;
|
||||
-2 -1.5 -1 0 1 1.5 2]; % 高斯函数的中心点矢量 维度 IN * MID 2*7
|
||||
b2 = 4; % 高斯函数的基宽 维度MID * 1 b的选择很重要 b越大 网路对输入的映射能力越大
|
||||
|
||||
gama2 = 0.01;
|
||||
belta = 2;
|
||||
sizes = simsizes;
|
||||
sizes.NumContStates = node*6; %设置系统连续状态的变量
|
||||
sizes.NumDiscStates = 0; %设置系统离散状态的变量
|
||||
sizes.NumOutputs = 4; %设置系统输出的变量
|
||||
sizes.NumInputs = 7; %设置系统输入的变量
|
||||
sizes.DirFeedthrough = 1; %如果在输出方程中显含输入变量u，则应该将本参数设置为1
|
||||
sizes.NumSampleTimes = 1; % 模块采样周期的个数
|
||||
% 需要的样本时间，一般为1.
|
||||
% 猜测为如果为n，则下一时刻的状态需要知道前n个状态的系统状态
|
||||
sys = simsizes(sizes);
|
||||
x0 = 0.1*[ones(node*4,1); 2*ones(node*1,1);3*ones(node*1,1)]; % 系统初始状态变量 代表W和V向量
|
||||
str = []; % 保留变量，保持为空
|
||||
ts = [0 0]; % 采样时间[t1 t2] t1为采样周期，如果取t1=-1则将继承输入信号的采样周期；参数t2为偏移量，一般取为0
|
||||
|
||||
|
||||
function sys = mdlDerivatives(t,x,u) %该函数仅在连续系统中被调用，用于产生控制系统状态的导数
|
||||
global c1 b1 c2 b2 node gama1 gama2 xite belta lg
|
||||
% 仿真中应根据网络输入值的有效映射范围来设计 c和b 从而保证有效的高斯映射 不合适的b或c均会导致结果不正确
|
||||
yd1 = 0.5*sin(pi*t);
|
||||
dyd1 = 0.5*pi*cos(pi*t);
|
||||
ddyd1 = -0.5*pi*pi*sin(pi*t);
|
||||
|
||||
yd2 = 0.5*sin(pi*t);
|
||||
dyd2 = 0.5*pi*cos(pi*t);
|
||||
ddyd2 = -0.5*pi*pi*sin(pi*t);
|
||||
|
||||
q1 = u(1);
|
||||
q2 = u(2);
|
||||
dq1 = u(3);
|
||||
dq2 = u(4);
|
||||
|
||||
e1 = yd1 - q1;
|
||||
e2 = yd2 - q2;
|
||||
de1 = dyd1 - dq1;
|
||||
de2 = dyd2 - dq2;
|
||||
e = [e1;e2];
|
||||
de = [de1;de2];
|
||||
|
||||
% 参数的定义
|
||||
q = 3;
|
||||
p = 5;
|
||||
|
||||
% 滑模面
|
||||
s1 = e1 + 1/belta*abs(de1)^(p/q)*sign(de1);
|
||||
s2 = e2 + 1/belta*abs(de2)^(p/q)*sign(de2);
|
||||
s = [s1; s2];
|
||||
|
||||
coe1 = p/(belta*q)*de1^(p-q)^(1/q); % 必大于0
|
||||
coe2 = p/(belta*q)*de2^(p-q)^(1/q); % 必大于0
|
||||
|
||||
Input = [q1;q2;dq1;dq2];
|
||||
% --------------------------------------------- W权值的更新
|
||||
hf1 = zeros(node , 1); %7*1矩阵
|
||||
hf2 = zeros(node , 1); %7*1矩阵
|
||||
for i =1:node
|
||||
hf1(i) = exp(-(norm(Input - c1(:,i))^2) / (2*b1^2));
|
||||
hf2(i) = exp(-(norm(Input - c1(:,i))^2) / (2*b1^2));
|
||||
end
|
||||
W1 = x(1:node); % 7*1矩阵
|
||||
W2 = x(node+1:2*node); % 7*1矩阵
|
||||
|
||||
fx1 = W1' * hf1;
|
||||
fx2 = W2' * hf2;
|
||||
|
||||
fx = [fx1; fx2]; % 2*1
|
||||
dw_fx1 = -gama1 * s1 * coe1 * hf1; % 7*1矩阵
|
||||
dw_fx2 = -gama1 * s2 * coe2 * hf2; % 7*1矩阵
|
||||
|
||||
for i = 1:node
|
||||
sys(i) = dw_fx1(i);
|
||||
sys(i+node) = dw_fx2(i);
|
||||
end
|
||||
% ------------------------------------------------- V权值的更新
|
||||
hg11 = zeros(node , 1); %7*1矩阵
|
||||
hg12 = zeros(node , 1); %7*1矩阵
|
||||
hg21 = zeros(node , 1); %7*1矩阵
|
||||
hg22 = zeros(node , 1); %7*1矩阵
|
||||
for i =1:node
|
||||
hg11(i) = exp(-(norm(Input - c2(:,i))^2) / (2*b2^2));
|
||||
hg12(i) = exp(-(norm(Input - c2(:,i))^2) / (2*b2^2));
|
||||
hg21(i) = exp(-(norm(Input - c2(:,i))^2) / (2*b2^2));
|
||||
hg22(i) = exp(-(norm(Input - c2(:,i))^2) / (2*b2^2));
|
||||
end
|
||||
V11 = x(node*2+1:node*3);
|
||||
V12 = x(node*3+1:node*4);
|
||||
V21 = x(node*4+1:node*5);
|
||||
V22 = x(node*5+1:node*6);
|
||||
|
||||
gx11 = V11' * hg11;
|
||||
gx12 = V12' * hg12;
|
||||
gx21 = V21' * hg21;
|
||||
gx22 = V22' * hg22;
|
||||
|
||||
gx = [gx11 gx12; gx21 gx22];
|
||||
% 控制器的设计
|
||||
p1 = 2.9;
|
||||
p2 = 0.76;
|
||||
p3 = 0.87;
|
||||
p4 = 3.04;
|
||||
|
||||
M = [p1+p2+2*p3*cos(q2) p2+p3*cos(q2);
|
||||
p2+p3*cos(q2) p2];
|
||||
% 控制器的设计
|
||||
g = inv(M);
|
||||
temp1 = -belta*q/p* (abs(de1)^(2-p/q)*sign(de1)) + fx(1) - (lg+xite)*sign(s1) - ddyd1;
|
||||
temp2 = -belta*q/p* (abs(de2)^(2-p/q)*sign(de2)) + fx(2) - (lg+xite)*sign(s2) - ddyd2;
|
||||
temp = [temp1; temp2];
|
||||
tau = -inv(gx) * temp;
|
||||
|
||||
dw_g11 = -gama2 * s1 * coe1 * hg11 * tau(1);
|
||||
dw_g12 = -gama2 * s1 * coe1 * hg12 * tau(1);
|
||||
|
||||
dw_g21 = -gama2 * s2 * coe2 * hg21 * tau(2);
|
||||
dw_g22 = -gama2 * s2 * coe2 * hg22 * tau(2);
|
||||
|
||||
for i = 1 : node
|
||||
sys(i+node*2) = dw_g11(i);
|
||||
sys(i+node*3) = dw_g12(i);
|
||||
sys(i+node*4) = dw_g21(i);
|
||||
sys(i+node*5) = dw_g22(i);
|
||||
end
|
||||
|
||||
function sys = mdlOutputs(t,x,u) %产生（传递）系统输出
|
||||
global c1 b1 c2 b2 node gama1 gama2 xite belta lg
|
||||
% 角度跟踪指令
|
||||
yd1 = 0.5*sin(pi*t);
|
||||
dyd1 = 0.5*pi*cos(pi*t);
|
||||
ddyd1 = -0.5*pi*pi*sin(pi*t);
|
||||
|
||||
yd2 = 0.5*sin(pi*t);
|
||||
dyd2 = 0.5*pi*cos(pi*t);
|
||||
ddyd2 = -0.5*pi*pi*sin(pi*t);
|
||||
|
||||
q1 = u(1);
|
||||
q2 = u(2);
|
||||
dq1 = u(3);
|
||||
dq2 = u(4);
|
||||
|
||||
e1 = yd1 - q1;
|
||||
e2 = yd2 - q2;
|
||||
de1 = dyd1 - dq1;
|
||||
de2 = dyd2 - dq2;
|
||||
e = [e1;e2];
|
||||
de = [de1;de2];
|
||||
ddyd = [ddyd1; ddyd2];
|
||||
|
||||
% 参数的定义
|
||||
q = 3;
|
||||
p = 5;
|
||||
|
||||
% 滑模面
|
||||
s1 = e1 + 1/belta*abs(de1)^(p/q)*sign(de1);
|
||||
s2 = e2 + 1/belta*abs(de2)^(p/q)*sign(de2);
|
||||
s = [s1; s2];
|
||||
|
||||
Input = [q1;q2;dq1;dq2];
|
||||
% ------------------------------------------- W权值
|
||||
hf1 = zeros(node , 1); %7*1矩阵
|
||||
hf2 = zeros(node , 1); %7*1矩阵
|
||||
for i =1:node
|
||||
hf1(i) = exp(-(norm(Input - c1(:,i))^2) / (2*b1^2));
|
||||
hf2(i) = exp(-(norm(Input - c1(:,i))^2) / (2*b1^2));
|
||||
end
|
||||
W1 = x(1:node); % 7*1矩阵
|
||||
W2 = x(node+1:2*node); % 7*1矩阵
|
||||
|
||||
coe1 = p/(belta*q)*de1^(p-q)^(1/q); % 必大于0
|
||||
coe2 = p/(belta*q)*de2^(p-q)^(1/q); % 必大于0
|
||||
|
||||
fx1 = W1' * hf1;
|
||||
fx2 = W2' * hf2;
|
||||
|
||||
fx = [fx1; fx2]; % 2*1
|
||||
|
||||
% ------------------------------------------- V权值
|
||||
hg11 = zeros(node , 1); %7*1矩阵
|
||||
hg12 = zeros(node , 1); %7*1矩阵
|
||||
hg21 = zeros(node , 1); %7*1矩阵
|
||||
hg22 = zeros(node , 1); %7*1矩阵
|
||||
for i =1:node
|
||||
hg11(i) = exp(-(norm(Input - c2(:,i))^2) / (2*b2^2));
|
||||
hg12(i) = exp(-(norm(Input - c2(:,i))^2) / (2*b2^2));
|
||||
hg21(i) = exp(-(norm(Input - c2(:,i))^2) / (2*b2^2));
|
||||
hg22(i) = exp(-(norm(Input - c2(:,i))^2) / (2*b2^2));
|
||||
end
|
||||
V11 = x(node*2+1:node*3);
|
||||
V12 = x(node*3+1:node*4);
|
||||
V21 = x(node*4+1:node*5);
|
||||
V22 = x(node*5+1:node*6);
|
||||
|
||||
gx11 = V11' * hg11;
|
||||
gx12 = V12' * hg12;
|
||||
gx21 = V21' * hg21;
|
||||
gx22 = V22' * hg22;
|
||||
|
||||
gx = [gx11 gx12; gx21 gx22];
|
||||
p1 = 2.9;
|
||||
p2 = 0.76;
|
||||
p3 = 0.87;
|
||||
p4 = 3.04;
|
||||
|
||||
M = [p1+p2+2*p3*cos(q2) p2+p3*cos(q2);
|
||||
p2+p3*cos(q2) p2];
|
||||
% 控制器的设计
|
||||
g = inv(M);
|
||||
|
||||
temp1 = -belta*q/p* (abs(de1)^(2-p/q)*sign(de1)) + fx(1) - (lg+xite)*sign(s1) - ddyd1;
|
||||
temp2 = -belta*q/p* (abs(de2)^(2-p/q)*sign(de2)) + fx(2) - (lg+xite)*sign(s2) - ddyd2;
|
||||
temp = [temp1; temp2];
|
||||
tau = - inv(gx) * temp;
|
||||
|
||||
sys(1) = tau(1);
|
||||
sys(2) = tau(2);
|
||||
sys(3) = fx1;
|
||||
sys(4) = fx2;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
78
Fixed_time_NNplant.m
Normal file
78
Fixed_time_NNplant.m
Normal file
@@ -0,0 +1,78 @@
|
||||
function [sys,x0,str,ts] = Fixed_time_NNplant(t,x,u,flag)
|
||||
switch flag
|
||||
case 0 %初始化
|
||||
[sys,x0,str,ts]=mdlInitializeSizes;
|
||||
case 1 %连续状态计算
|
||||
sys=mdlDerivatives(t,x,u);
|
||||
case {2,4,9} %离散状态计算，下一步仿真时刻，终止仿真设定
|
||||
sys=[];
|
||||
case 3 %输出信号计算
|
||||
sys=mdlOutputs(t,x,u);
|
||||
otherwise
|
||||
DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
|
||||
end
|
||||
|
||||
function [sys,x0,str,ts]=mdlInitializeSizes %系统的初始化
|
||||
sizes = simsizes;
|
||||
sizes.NumContStates = 4; %设置系统连续状态的变量
|
||||
sizes.NumDiscStates = 0; %设置系统离散状态的变量
|
||||
sizes.NumOutputs = 4; %设置系统输出的变量
|
||||
sizes.NumInputs = 4; %设置系统输入的变量
|
||||
sizes.DirFeedthrough = 0; %如果在输出方程中显含输入变量u，则应该将本参数设置为1
|
||||
sizes.NumSampleTimes = 1; % 模块采样周期的个数
|
||||
% 需要的样本时间，一般为1.
|
||||
% 猜测为如果为n，则下一时刻的状态需要知道前n个状态的系统状态
|
||||
sys = simsizes(sizes);
|
||||
x0 = [0.09 -0.09 0 0]; % 系统初始状态变量
|
||||
str = []; % 保留变量，保持为空
|
||||
ts = [0 0]; % 采样时间[t1 t2] t1为采样周期，如果取t1=-1则将继承输入信号的采样周期；参数t2为偏移量，一般取为0
|
||||
|
||||
|
||||
function sys=mdlDerivatives(t,x,u) %该函数仅在连续系统中被调用，用于产生控制系统状态的导数
|
||||
tau1 = u(1); %力矩1
|
||||
tau2 = u(2); %力矩2
|
||||
|
||||
q1 = x(1); % 关节角一
|
||||
q2 = x(2); % 关节角二
|
||||
dq1 = x(3); % 关节角速度一
|
||||
dq2 = x(4); % 关节角速度一
|
||||
q = [q1; q2];
|
||||
dq = [dq1; dq2];
|
||||
|
||||
% 参数的定义
|
||||
p1 = 2.9;
|
||||
p2 = 0.76;
|
||||
p3 = 0.87;
|
||||
p4 = 3.04;
|
||||
p5 = 0.87;
|
||||
g = 9.8;
|
||||
|
||||
d = sin(10*x(1))+cos(x(2)); %干扰
|
||||
% f = [u(3); u(4)]; %LuGre摩擦力
|
||||
f = [0.02*sign(dq1);0.02*sign(dq2)];
|
||||
M = [p1+p2+2*p3*cos(q2) p2+p3*cos(q2);
|
||||
p2+p3*cos(q2) p2];
|
||||
C = [-p3*dq2*sin(q2) -p3*(dq1+dq2)*sin(q2);
|
||||
p3*dq1*sin(q2) 0];
|
||||
G = [p4*g*cos(q1)+p5*g*cos(q1+q2);
|
||||
p5*g*cos(q1+q2)];
|
||||
|
||||
tau = [tau1; tau2];
|
||||
|
||||
ddq = inv(M) * (tau - C*dq - G - d - f);
|
||||
|
||||
sys(1) = x(3);
|
||||
sys(2) = x(4);
|
||||
sys(3) = ddq(1);
|
||||
sys(4) = ddq(2);
|
||||
|
||||
|
||||
function sys=mdlOutputs(t,x,u) %产生（传递）系统输出
|
||||
|
||||
sys(1) = x(1); %q1
|
||||
sys(2) = x(2); %q2
|
||||
sys(3) = x(3); %dq1
|
||||
sys(4) = x(4); %dq2
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user