基于神经网络输出反馈的动态矩阵控制研究

clear all;

close all;

xite=0.50;

alfa=0.05;

w2=rand(6,1);

w2_1=w2;w2_2=w2;

w1=rand(2,6);

w1_1=w1;w1_2=w1;

dw1=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]';

ts=0.001;

for k=1:1:1000

time(k)=k*ts;

u(k)=0.50*sin(3*2*pi*k*ts);

a(k)=1.2*(1-0.8*exp(-0.1*k));

y(k)=a(k)*y_1/(1+y_1^2)+u_1;

for j=1:1:6

I(j)=x'*w1(:,j);

Iout(j)=1/(1+exp(-I(j)));

end

yn(k)=w2'*Iout;

e(k)=y(k)-yn(k);

w2=w2_1+(xite*e(k))*Iout+alfa*(w2_1-w2_2); for j=1:1:6

FI(j)=exp(-I(j))/(1+exp(-I(j)))^2;

end

for i=1:1:2

for j=1:1:6

dw1(i,j)=e(k)*xite*FI(j)*w2(j)*x(i);

end

end

w1=w1_1+dw1+alfa*(w1_1-w1_2);

x(1)=u(k);

x(2)=y(k);

w1_2=w1_1;w1_1=w1;

w2_2=w2_1;w2_1=w2;

u_1=u(k);

y_1=y(k);

end

figure(1);

plot(time,y,'r',time,yn,'b');

xlabel('times');ylabel('y and yn');

grid on

ts=0.1;

for k=1:1:200

time(k)=k*ts;

u(k)=1;

a(k)=1.2*(1-0.8*exp(-0.1*k));

y(k)=a(k)*y_1/(1+y_1^2)+u_1;

for j=1:1:6

I(j)=x'*w1(:,j);

Iout(j)=1/(1+exp(-I(j)));

end

yn(k)=w2'*Iout;

e(k)=y(k)-yn(k);

w2=w2_1+(xite*e(k))*Iout+alfa*(w2_1-w2_2); for j=1:1:6

FI(j)=exp(-I(j))/(1+exp(-I(j)))^2;

end

for i=1:1:2

for j=1:1:6

dw1(i,j)=e(k)*xite*FI(j)*w2(j)*x(i);

end

end

w1=w1_1+dw1+alfa*(w1_1-w1_2);

x(1)=u(k);

x(2)=y(k);

w1_2=w1_1;w1_1=w1;

w2_2=w2_1;w2_1=w2;

u_1=u(k);

y_1=y(k);

y0(k)=yn(k);

end

Ts=5;

N=200;

P=25;

m=20;

Sv=10;

yg_1=0;

A=zeros(P,m);

a=zeros(N,1);

for i=1:N

a(i)=y0(i);

end

for i=1:P

for j=1:m

if i-j+1>0

A(i,j)=a(i-j+1);

end

end

end

K=inv(A'*A+eye(m))*A';

y=zeros(N,1);

u=zeros(N,1);

e=zeros(N,1);

A0=zeros(P,N-1);

for i=1:P

for j=N-2:-1:1

if N-j+1+i-1<=N

A0(i,j)=a(N-j+1+i-1)-a(N-j+i-1);

else

A0(i,j)=0;

end

end

A0(i,N-1)=a(i+1);

end

for k=2:N

Uk_1=zeros(N-1,1);

for i=1:N-1

if k-N+i<=0

Uk_1(i)=0;

else

Uk_1(i)=u(k-N+i);

end

end

Y0=A0*Uk_1;

a(k)=1.2*(1-0.8*exp(-0.1*k));

yg(k)=a(k)*y_1/(1+y_1^2)+u_1;

u_1=u(k);

yg_1=yg(k);

e(k)=y(k)-yg(k);

Ysk=zeros(P,1);

for i=1:P

Ysk(i)=Sv;

end

Ek=zeros(P,1);

for i=1:P

Ek(i)=0.1*i*e(k);

end

dertu=K*(Ysk-Y0-Ek);

for i=1:m

if k+i-1<=N

u(k+i-1)=u(k+i-1-1)+dertu(i);

end