智能控制(神经网络)作业

1、百度文库-让每个人平等地提升自我16智能控制作业学生姓名：学号：专业班级：7-2采用BP网路、RBF网路、DRNN3路逼近线性对象八、u(k1)0.9y(k1)y(k)22，分别进仃matlab仿真。1y(k1)(一)采用BP网络仿真网络结构为2-6-1。采样时间1ms输入信号u(k)0.5sin(6t),权值叫"?的初值随机取值，0.05,0.05。仿真m文件程序为：%BPsimulationclearall;clearall;xite=;alfa=;w1=rands(2,6);w1_1=w1;w1_2=w1;%valueofw1,initiallybyrandomw2=rands

2、(6,1);w2_1=w2;w2_2=w2_1;%valueofw2,initiallybyrandomdw1=0*w1;x=0,0'u_1=0;y_1=0;I=0,0,0,0,0,0'Iout=0,0,0,0,0,0'FI=0,0,0,0,0,0'%inputofyinhancengcell%outputofyinhancengcellts=;fork=1:1:1000time(k)=k*ts;u(k)=*sin(3*2*pi*k*ts);y(k)=*y_i)/(i+y_1A2);forj=1:1:6I(j)=x'*w1(:,j);Iout(j)=1/

3、(1+exp(-I(j);endyn(k)=w2'*Iout;%outputofnetworke(k)=y(k)-yn(k);%errorcalculationw2=w2_1+(xite*e(k)*Iout+alfa*(w2_1-w2_2);forj=1:1:6FI(j)=exp(-I(j)/(1+exp(-I(j)A2);endfo门=1:1:2forj=1:1:6dw1(i,j)=e(k)*xite*FI(j)*w2(j)*x(i);endendw1=w1_1+dw1+alfa*(w1_1-w1_2);%jacobianinformationyu=0;forj=1:1:6yu=yu

4、+w2(j)*w1(1,j)*FI(j);enddyu(k)=yu;x(1)=u(k);x(2)=y(k);%rectifyofw2%dw1calculation%rectifyofw1w1_2=w1_1;w1_1=w1;w2_2=w2_1;w2_1=w2;u_1=u(k);y_i=y(k);endfigure(1)；plot(time,y,'r',time,yn,'b');xlabel('times');ylabel('yandyn');figure(2);plot(time,y-yn,'r');xlabel(&

5、#39;times');ylabel('erroL);figure(3);plot(time,dyu);xlabel('times');ylabel('dyu');运行结果为：(二)采用RBF网络仿真网路结构为2-4-1,采样时间1ms输入信号u(k)0.5sin(2t),权值的初值随机取值，0.05,0.05,高斯基函数初值Cj0.5,0.5T,B1.5,1.5,1.5,1.5T。仿真m文件程序如下：/%RBFsimulationclearall/clearallalfa=;/xite=;x=0,0'b=*ones(4,1);/c=*o

6、nes(2,4);/w=rands(4,1);w_1=w；w_2=w_1；c_1=c；c_2=c_1；b_1=b;b_2=b_1d_w=0*w;/d_b=0*b;/y_1=0;ts=;fork=1:1:2000;time(k)=k*ts;u(k)=*sin(1*2*pi*k*ts);y(k)=(u(k)*y_1)/(1+y_W2);x(1)=u(k);x(2)=y_1;forj=1:1:4h(j)=exp(-norm(x-c(:,j)A2/(2*b(j)*b(j);endym(k)=w'*h'em(k)=y(k)-ym(k);forj=1:1:4d_w(j)=xite*em(k

7、)*h(j);d_b(j)=xite*em(k)*w(j)*h(j)*(b(j)A-3)*norm(x-c(:,j)A2;fo-=1:1:2d_c(i,j尸xite*em(k)*w(j)*h(j)*(x(i)-c(i,j)*(b(j)A-2)；endendw=w_1+d_w+alfa*(w_1-w_1);b=b_1+d_b+alfa*(b_1-b_2);c=c_1+d_c+alfa*(c_1-c_2);%Jacobianinformationyu=0;forj=1:1:4yu=yu+w(j)*h(j)*(c(1,j)-x(1)/b(j)A2;end/dyu(k)=yu;y_i=y(k);w_2

8、=w_1;w_1=w；c_2=c_1；c_1=c;b_2=b_1；b_1=b;endfigure(1);plot(time,y,'r',time,ym,'b');xlabel('time(s)');ylabel('yandym');figure(2);plot(time,y-ym,'r');xlabel('time(s)');ylabel('error');figure(3);plot(time,dyu,'b');xlabel('time(s)');y

9、label('dyu');仿真结果为：(三)DRNIW路仿真采样时间1ms,输入信号u(k)0.5sin(4t),权值WD,WO,WI的初值随机取值，取力0.35,D0.35,I0.35。仿真m文件程序为：%DRNNsimulationclearall;clearall;wd=rands(7,1);wo=rands(7,1);/wi=rands(3,7);xj=zeros(7,1);/xj_1=xj;u_i=0;y_i=0;xitei=;/xited=;xiteo=;ts=;fork=1:1:1000time(k)=k*ts;u(k)=*sin(4*pi*k*ts);y(k)=

10、*y_i)/(i+y_1A2);Ini=u_1,y_1,1'forj=1:1:7sj(j)=Ini'*wi(:,j)+wd(j)*xj(j);endforj=1:1:7xj(j)=(1-exp(-sj(j)/(1+exp(-sj(j);endPj=0*xj;forj=1:1:7Pj=wo(j)*(1+xj(j)*(1-xj(j)*xj_1(j);endQij=0*wi;forj=1:1:7fo-=1:1:3Qij(i,j)=wo(j)*(1+xj(j)*(1-xj(j)*Ini(i);endendymk=0;forj=1:1:7ymk=ymk+xj(j)*wo(j);endym(k)=ymk;e(k)=y(k)-ym(k);wo=wo+xiteo*e(k)*xj;wd=wd+xited*e(k)*Pj;wi=wi+xitei*e(k)*Qij;xj_1=xj;u_1=u(k);y_i=y(k);endfigure(1)；plot(time,y,'r',time,ym,'b&