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    發(fā)布日期: 2024-02-02
  • 語言: Matlab
  • 標(biāo)簽: rbf??

資源簡介

用于matlab中的神經(jīng)網(wǎng)絡(luò)開發(fā) rbf神經(jīng)網(wǎng)絡(luò)求解機(jī)器人的運(yùn)動(dòng)學(xué)逆解源碼

資源截圖

代碼片段和文件信息

%計(jì)算個(gè)體誤差和函數(shù)
function?[pBsJ]?=?fitness(pBsJ)
ts?=?0.001;
number=3;
load?PP-file?PP;
load?TT-file?TT;
alfa?=?0.05;
xite?=?0.85;
x?=?[0;0;0;0;0;0];
b?=?[p(1);p(2);p(3);p(4);p(5);p(6);p(7);p(8)];%寬度
c?=?[p(9)?p(10)?p(11)?p(12)?p(13)?p(14)?p(15)?p(16);
?????p(17)?p(18)?p(19)?p(20)?p(21)?p(22)?p(23)?p(24);
?????p(25)?p(26)?p(27)?p(28)?p(29)?p(30)?p(31)?p(32);
?????p(33)?p(34)?p(35)?p(36)?p(37)?p(38)?p(39)?p(40);
?????p(41)?p(42)?p(43)?p(44)?p(45)?p(46)?p(47)?p(48);
?????p(49)?p(50)?p(51)?p(52)?p(53)?p(54)?p(55)?p(56)];%中心
w?=?[p(57)?p(58)?p(59)?p(60)?p(61)?p(62);
????p(63)?p(64)?p(65)?p(66)?p(67)?p(68);
????p(69)?p(70)?p(71)?p(72)?p(73)?p(74);
????p(75)?p(76)?p(77)?p(78)?p(79)?p(80);
????p(81)?p(82)?p(83)?p(84)?p(85)?p(86);
????p(87)?p(88)?p(89)?p(90)?p(91)?p(92);
????p(93)?p(94)?p(95)?p(96)?p(97)?p(98);
????p(99)?p(100)?p(101)?p(102)?p(103)?p(104)];%權(quán)值

w_1?=?w;w_2?=?w_1;
c_1?=?c;c_2?=?c_1;
b_1?=?b;b_2?=?b_1;
%y_1?=?0;

for?k?=?1:1:number
????timef(k)?=?k*ts;
???????
????%u(k)?=?sin(5*2*pi*k*ts);
????
????%y(k)?=?u(k)^3?+?y_1/(1?+?y_1^2);
????x=TT(:k);
????y=PP(:k);
????%x(1)?=?u(k);
????%x(2)?=?y(k);
????for?j?=?1:1:8
????????h(j)?=?exp(-norm(x?-?c(:j))^2/(2*b(j)*b(j)));
????end
????ym?=?w_1‘*h‘;
????
????e(:k)?=?y?-?ym
????
????d_w?=?0*w;d_b?=?0*b;d_c?=?0*c;
????for?j?=?1:1:8
????????d_w(j:)?=?(xite*e(:k)*h(j))‘;
????????d_b(j)?=?xite*w(j:)*e(:k)*h(j)*(b(j)^-3)*norm(x-c(:j))^2;
????????for?i?=?1:1:6
????????????d_c(ij)?=?xite*w(j:)*e(:k)*h(j)*(x(i)?-?c(ij))*(b(j)^-2);
????????end
????end
????
????w?=?w_1?+?d_w?+?alfa*(w_1?-?w_2);
????b?=?b_1?+?d_b?+?alfa*(b_1?-?b_2);
????c?=?c_1?+?d_c?+?alfa*(c_1?-?c_2);
????
????%y_1?=?y(k);
????w_2?=?w_1;
????w_1?=?w;
????
????c_2?=?c_1;
????c_1?=?c;
????
????b_2?=?b_1;
????b_1?=?b;
end
B?=?0;
for?i?=?1:1:number;
????Ji(i)?=?norm(e(:i));
????B?=?B?+?Ji(i);
end
BsJ?=?B;

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件???????1939??2011-05-05?11:29??GA_RBF_MDH\fitness.asv

?????文件???????1937??2011-05-05?10:38??GA_RBF_MDH\fitness.m

?????文件???????2368??2011-05-04?22:01??GA_RBF_MDH\forcast_MDH.asv

?????文件???????2368??2011-05-04?22:04??GA_RBF_MDH\forcast_MDH.m

?????文件???????2674??2011-05-05?10:24??GA_RBF_MDH\GA_MDH.asv

?????文件???????2683??2011-05-05?10:36??GA_RBF_MDH\GA_MDH.m

?????文件???????1028??2011-05-05?10:38??GA_RBF_MDH\pfile.mat

?????文件??????18594??2011-05-04?19:45??GA_RBF_MDH\PP-file.mat

?????文件??????18678??2011-05-04?19:45??GA_RBF_MDH\TT-file.mat

?????目錄??????????0??2011-05-05?10:15??GA_RBF_MDH

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

????????????????52269????????????????????10


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