模糊小波基神经网络及其在机器人轨迹跟踪控制仿真程序
王耀南 的模糊小波基神经网络及其在机器人轨迹跟踪控制仿真程序有没有高手试验过？
为什么我实验的不行 请给出你的处理及问题所在.
另:本论坛已经新开了一个版面---人工智能...,你也可以到那里去讨论. 楼主所说的实验问题不知道主要指哪些方面
这个怎么编写ROBOT函数
当我运行时，出现以下错误：??? Undefined command/function 'robot'.
Error in ==> FuzzyWaveletNet at 167
=robot(t1k,t2k,angl1k,angl2k,velo1k,velo2k,acce1k,acce2k,t);
[ 本帖最后由 enqi01 于 2007-6-25 08:35 编辑 ]
这是轨迹跟踪控制仿真程序
global angl1k;global angl1k1;
global angl2k;
global angl2k1;
global velo1;
global velo1k1;
global velo2k;
global velo2k1;
global acce1k;
global acce1k1;
global acce2k;
global acce2k1;
global t;
angl1k1=0;
angl2k1=0;
velo1k1=0;
velo2k1=0;
acce1k1=0;
acce2k1=0;
erro1k=0;
erro2k=0;
erro1k_1=0;
erro2k_1=0;
t=0.0005;
t1k=0;
t2k=0;
rule=[-5,-5,-5,-5,-5,-5,-5,-4,-3,-2,0,0,0;
-5,-5,-5,-5,-5,-5,-5,-4,-3,-2,0,0,0;
-5,-5,-5,-5,-5,-5,-5,-3,-3,-2,0,0,0;
-4,-4,-4,-4,-4,-4,-4,-3,-2,-1,1,1,1;
-4,-4,-4,-4,-4,-4,-4,-2,-1,0,2,2,2;
-4,-4,-4,-3,-3,-3,-3,-1,2,2,3,3,3;
-4,-4,-4,-3,-3,-1,0,1,3,3,4,4,4;
-3,-3,-3,-2,-2,1,3,3,3,3,4,4,4;
-2,-2,0,0,1,2,4,4,4,4,4,4,4;
-1,-1,0,1,2,3,4,4,4,4,4,4,4;
0,0,1,2,3,4,5,5,5,5,5,5,5;
0,0,1,2,3,4,5,5,5,5,5,5,5;
0,0,1,2,3,4,5,5,5,5,5,5,5];
ke1=200;
kec1=1;
kcw1=600;
ke2=200;
kec2=1;
kcw2=600/6;
x=0;
A1=[];
A2=[];
DA1=[];
DA2=[];
ERR1=[];
ERR2=[];
WN1=[];
WN2=[];
X=[];
load 'waveletpara.mat';
%main
for i=0:1999
erro1k_1=erro1k;
erro2k_1=erro2k;
angl1k=angl1k1;
angl2k=angl2k1;
velo1k=velo1k1;
velo2k=velo2k1;
acce1k=acce1k1;
acce2k=acce2k1;
x=x+t;
de_angl1k=sin(2*pi*x);
de_angl2k=sin(2*pi*x);
%%%%%%%%%%%%%%%%%%%%%%%
erro1k=de_angl1k-angl1k;
derro1k=(erro1k-erro1k_1)/t;
erro2k=de_angl2k-angl2k;
derro2k=(erro2k-erro2k_1)/t;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
E1=round(erro1k*ke1);
if E1>6
E1=6;
elseif E1<-6
E1=-6;
end
EC1=round(derro1k*kec1);
if EC1>6
EC1=5;
elseif EC1<-6
EC1=-6;
end
%%%%%%%%%%%%%%%%%%%%%
E2=round(erro2k*ke2);
if E2>6
E2=6;
elseif E2<-6
E2=-6;
end
EC2=round(derro2k*kec2);
if EC2>6
EC2=5;
elseif EC2<-6
EC2=-6;
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%5
%%%%%%% Wavelet Net
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
out1_one(1)=E1/6;
out1_one(2)=EC1/6;
out1_two(1)=E2/6;
out1_two(2)=EC2/6;
%%%%%%%%%network1
%%%%second layer,getting wavelet membership
for i=1:2
for j=1:3
to(i,j)=(out1_one(i)-bo(i,j))/ao(i,j);
out2_one(i,j)=cos(0.5*to(i,j))*exp(-to(i,j)^2/2);
end
end
%third layer,'and operation'
for i=1:3
for j=1:3
out3_one(i,j)=out2_one(1,i)*out2_one(2,j);
end
end
% forth layer defuzziation
sumone=0;
wholesumone=0;
for i=1:3
for j=1:3
sumone=sumone+out3_one(i,j);
wholesumone=wholesumone+out3_one(i,j)*weight3_one(i,j);
end
end
netout(1)=wholesumone/sumone;
%network2
%second layer
for i=1:2
for j=1:3
tt(i,j)=(out1_two(i)-bt(i,j))/at(i,j);
out2_two(i,j)=cos(0.5*tt(i,j))*exp(-tt(i,j)^2/2);
end
end
%third layer, 'and operation'
for i=1:3
for j=1:3
out3_two(i,j)=out2_two(1,i)*out2_two(2,j);
end
end
%%%%%forth layer defuzzization
sumtwo=0;
wholesumtwo=0;
for i=1:3
for j=1:3
sumtwo=sumtwo+out3_two(i,j);
wholesumtwo=wholesumtwo+out3_two(i,j)*weight3_two(i,j);
end
end
netout(2)=wholesumtwo/sumtwo;
%%%%%%%%%% fifth layer
wn(1)=weight4(1,1)*netout(1)+weight4(1,2)*netout(2);
wn(2)=weight4(2,1)*netout(1)+weight4(2,2)*netout(2);
t1k=wn(1)*kcw1*6;
t2k=wn(2)*kcw2*6;
WN1=;
WN2=;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
=robot(t1k,t2k,angl1k,angl2k,velo1k,velo2k,acce1k,acce2k,t);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
A1=;
A2=;
DA1=;
DA2=;
ERR1=;
ERR2=;
X=;
end
figure(1)
plot(X,A1,'-',X,DA1,'-');
figure(2)
plot(X,A2,'-',X,DA2,'-');
figure(3)
plot(X,ERR1,'-');
axis();
figure(4)
plot(X,WN1,'-');
figure(6)
plot(X,WN2,'-'); 原帖由 enqi01 于 2007-6-25 08:33 发表 http://www.chinavib.com/forum/images/common/back.gif
当我运行时，出现以下错误：
??? Undefined command/function 'robot'.
Error in ==> FuzzyWaveletNet at 167
=robot(t1k,t2k,angl1k,angl2k,velo1 ...
命令不存在，请认真看看各置顶贴 存为一个function试试．
另：请将数据上传一下，便于他人调试．
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