[ÇóÖú] RBF»¬Ä£±ä½á¹¹ ³ÌÐò½á¹û²»¶Ô°¡ ³ÌÐòÊÇÁõ½ðçûÊéÉϵÄ

ÈçÌâ   ÎÒÖ»ÓÐÒ»¸ö½ð±Ò¡£¡£¡£ºÍÅÌÍгö ×Ô¼ºÒ²¶Ô¹ýÁË Ã»ÎÊÌâ  ³ÌÐòÒ²Àí½â£¬¾ÍÊǽá¹ûÔõô²»¶Ô¡£¡£¡£Õ⻹ÊÇÊéÉϵijÌÐò ³ÌÐòÈçÏ function [sys,x0,str,ts] = spacemodel(t,x,u,flag) switch flag, case 0,     [sys,x0,str,ts]=mdlInitializeSizes; 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  = 0; sizes.NumDiscStates  = 0; sizes.NumOutputs     = 3; sizes.NumInputs      = 3; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 0; sys = simsizes(sizes); x0  = []; str = []; ts  = []; function sys=mdlOutputs(t,x,u) persistent w w_1 w_2 m b Gp=133; Gmax=150; Gmin=100; alfa=sqrt(Gmax/Gmin)+1; r=1;dr=0;ddr=0; e=u(1); de=u(2)-dr; c=5; s=c*e+de; fp=-25*u(2); F=5*abs(u(2)); D=50; Up=-fp-c*de+ddr; ueq=1/Gp*Up; xite=0.50; M=1; switch 2 case 1    K=alfa*(F+D+xite+(alfa-1)*abs(Up)); case 2    %Using RBF if t==0         w=30*ones(3,1);         m=3*ones(2,3);    b=5*ones(3,1);    w_2=w_1;         w_1=w;         end         ds=u(3);         xi=[s;ds]; for j=1:1:3     h(j)=exp(-norm(xi-m(:,j))^2/(2*b(j)*b(j))); end         ym=w'*h';         K=abs(ym);         dyu=1.0;         xite1=0.80;         alfa1=0.05;         d_w=xite1*e*dyu*1/Gp*sign(s)*h'*sign(ym);         w=w_1+d_w+alfa1*(w_1-w_2); end un=-1/Gp*K*sign(s); ut=ueq+un; sys(1)=ut; sys(2)=K; sys(3)=s; ---------------------------------·Ö¸îÏß %S-function for continuous state equation function [sys,x0,str,ts]=s_function(t,x,u,flag) switch flag, %Initialization   case 0,     [sys,x0,str,ts]=mdlInitializeSizes; case 1,     sys=mdlDerivatives(t,x,u); %Outputs   case 3,     sys=mdlOutputs(t,x,u); %Unhandled flags   case {2, 4, 9 }     sys = []; %Unexpected flags   otherwise     error(['Unhandled flag = ',num2str(flag)]); end %mdlInitializeSizes function [sys,x0,str,ts]=mdlInitializeSizes sizes = simsizes; sizes.NumContStates  = 2; sizes.NumDiscStates  = 0; sizes.NumOutputs     = 3; sizes.NumInputs      = 1; sizes.DirFeedthrough = 0; sizes.NumSampleTimes = 0; sys=simsizes(sizes); x0=[0,0]; str=[]; ts=[]; function sys=mdlDerivatives(t,x,u) fp=-25*x(2); f=fp-5*sin(t)*x(2); Gp=133; G=Gp+15*sin(t); b=0.05;c=2; dt=50*exp(-(t-c)^2/(2*b^2));   %rbf_func.m sys(1)=x(2); sys(2)=f+G*u+dt; function sys=mdlOutputs(t,x,u) b=0.05;c=2; dt=50*exp(-(t-c)^2/(2*b^2));   %rbf_func.m sys(1)=x(1); sys(2)=x(2); sys(3)=dt; ----------------------------------------·Ö¸îÏß close all; figure(1); plot(t,y(:,1),'r',t,y(:,2),'b'); xlabel('time(s)');ylabel('Position tracking'); figure(2); plot(t,u(:,1),'r'); xlabel('time(s)');ylabel('Control input'); figure(3); plot(t,K(:,1),'r'); xlabel('time(s)');ylabel('Gain K'); 1.JPG ²¶»ñ2.JPG

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