%~~~~~~~~~~~~~~~~~~~~~~~?function?for?p6main.m?~~~~~~~~~~~~~~~~~~~~~~~~
function?f=directp01fun（tx）?
global?e1
global?u1
%--------------Neural?network?control?tpzhang------?initialize?---------
f=zeros（581）;
gama=0.5;
k1=1;
k2=1;
Mf=4;
wm=0.001;
eps=1;
eta1=0.01;eta2=0.01;eta3=0.01;eta=0.01;
xd1=[pi*sin（t）/30pi*cos（t）/30]‘;
x1=[x（1）?x（2）]‘;
K1=x（3:5）;
W1=x（6:15）;
V1=zeros（410）;
for?i=1:10
???V1（:i）=x（4*i+12:4*i+15）;
end
%-------------------------?error?&?swith?function?---------------------
e1=xd1-x1;
sigama=k1*e1（2）+k2*e1（1）-pi*sin（t）/30;
%-------------------------?fuzzy?base?function?------------------------
z1=[x（1）?x（2）?sigama]‘;
zbar1=[z1‘?1]‘;

ds1=zeros（101）;
hats1=zeros（101）;
for?i=1:10
???ds1（i）=（gama*exp（-gama*V1（:i）‘*zbar1））/（1+exp（-gama*V1（:i）‘*zbar1））^2;
???hats1（i）=1/（1+exp（-gama?*V1（:i）‘*zbar1））;
end

%//i?rules?&?vector?z（j）;?i=5;?j=7//?
ph1=zeros（31）;
ph1=[norm（zbar1*W1‘*diag（ds1）‘fro‘）?norm（diag（ds1）*V1‘*zbar1）?1]‘;
un=W1‘*hats1;

?
%----------------------------?control?law?-----------------------------
Fx=15.78+0.0366*x（2）^2;
Dx=1.2;
vbar=4;
bL=1.12;p=[15?5;5?5];
Q=[10?0;0?10];pn=[5?5]‘;
%define?sat?function
phi1=0.001;
y=e1‘*pn/phi1;
if?y<=-1?
????sat1=-1;
elseif?abs（y）<=1
????sat1=y;
else?
????sat1=1;
end

ve=e1‘*p*e1;
if?ve>2*vbar
???Ivbar=1;
else?
???Ivbar=0;
end
?xtal2=zeros（401）;
?xtal=zeros（150001）;
?bx=abs（0.3*cos（x（1）））;
if?t-1-0.5*sin（t）<=0
???delta=0.1*x（1）^2;
???b1x=delta+bx;
else
???for?q=1:40?
?????for?m=（375*（q-1）+1）:（375*q）;
???????b1x=bx+xtal2（q）;
?????end
???end
end
hmax=0.2;
?uc=（K1‘*ph1+（Dx+x（56）+b1x）/bL）*sat1;
?us=Ivbar*sat1*（abs（un）+（hmax+b1x+Fx+abs（-pi*sin（t）/30）+abs（k1*e1（2）+k2*e1（1）））/bL）;
?u1=un+uc+us;
??
%------------------------------?equation?------------------------------
j=1;
f（1）=x（2）;
if?t-1-0.5*sin（t）<=0
???f（2）=（9.8*sin（x（1））-0.05*x（2）^2*cos（x（1））*sin（x（1））/1.1）/（2/3-0.05*（cos（x（1）））^2/1.1）...
???+（（cos（x（1））/1.1）/（2/3-0.05*（cos（x（1）））^2/1.1））*u1+0.3*cos（x（1））+0.1*x（1）^2;
???N=375;
????for?i=1:N
????????xtal（i）=x（1）;
????????xtal2（1）=0.05;
????????if?xtal2（1）<=abs（xtal（i））
????????????xtal2（1）=abs（xtal（i））;
????????end
????end
else
???f（2）=（9.8*sin（x（1））-0.05*x（2）^2*cos（x（1））*sin（x（1））/1.1）/（2/3-0.05*（cos（x（1）））^2/1.1）...
???+（（cos（x（1））/1.1）/（2/3-0.05*（cos（x（1）））^2/1.1））*u1+0.3*cos（x（1））+0.1*xtal（j）^2;
???j=j+1;
%????for?i=1501:40000
%???????xtal（i）=x（1）;
??????for?k=1:39;
????????for?l=（375*k+1）:（375*（k+1））;
????????????xtal（l）=x（1）;
????????????xtal2（k+1）=0.05;
????????????if?xtal2（k+1）<=abs（xtal（l））
????????????????xtal2（k+1）=abs（xtal（l））;
????????????end
????????end
??????end
%?????end
end
f（3:5）=eta3*abs（e1‘*pn）*ph1;

norm1=0;
for?i=6:15
???norm1=x（i）‘*x（i）+norm1;
end
norm1=sqrt（norm1）;

if?norm1=0）?
?????f（6:15）=eta1*（hats1-diag（ds1）*V1‘*zbar1）*e1‘*pn;
???else??
?????f（6:15）=eta1*（hats1-diag（ds1）*V

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????5141??2010-03-26?17:57??p102fun.m

?????文件???????3198??2010-03-26?18:00??p102main.m

?????文件???????3188??2008-04-05?09:23??directp01fun.m

?????文件???????2577??2008-04-04?21:19??directp01main.m

-----------?---------??----------?-----??----

????????????????14104????????????????????4