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

enqi01

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

xjzuo

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.

lxq

楼主所说的实验问题不知道主要指哪些方面

enqi01

当我运行时，出现以下错误：


??? Undefined command/function 'robot'.

Error in ==> FuzzyWaveletNet at 167
[angl1k1,angl2k1,velo1k1,velo2k1,acce1k1,acce2k1]=robot(t1k,t2k,angl1k,angl2k,velo1k,velo2k,acce1k,acce2k,t);

[ 本帖最后由 enqi01 于 2007-6-25 08:35 编辑 ]

enqi01

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=[WN1,wn(1)];
WN2=[WN2,wn(2)];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
[angl1k1,angl2k1,velo1k1,velo2k1,acce1k1,acce2k1]=robot(t1k,t2k,angl1k,angl2k,velo1k,velo2k,acce1k,acce2k,t);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
A1=[A1,angl1k];
A2=[A2,angl2k];
DA1=[DA1,de_angl1k];
DA2=[DA2,de_angl2k];
ERR1=[ERR1,erro1k];
ERR2=[ERR2,erro2k];
X=[X,x];
end
figure(1)
plot(X,A1,'-',X,DA1,'-');
figure(2)
plot(X,A2,'-',X,DA2,'-');
figure(3)
plot(X,ERR1,'-');
axis([0 1 -0.15 0.15]);
figure(4)
plot(X,WN1,'-');
figure(6)
plot(X,WN2,'-');

eight

原帖由 enqi01 于 2007-6-25 08:33 发表

                               
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当我运行时，出现以下错误：


??? Undefined command/function 'robot'.

Error in ==> FuzzyWaveletNet at 167
[angl1k1,angl2k1,velo1k1,velo2k1,acce1k1,acce2k1]=robot(t1k,t2k,angl1k,angl2k,velo1 ...

命令不存在，请认真看看各置顶贴

xjzuo

存为一个function试试．
另：请将数据上传一下，便于他人调试．