clc;
clear;
figure（8）;
par=zeros（1100）;
par2=zeros（1100）;
time=zeros（1100）;
sstep=zeros（1100）;

for?j=1:1
????disp（‘------------------------------------------------------------------‘）;
????episodes=100;??
????theta=zeros（541）;
????distance=0;
????v=zeros（271）;
????gamma=0.9;
????lambda=0.5;
????epsilon=10^（-20）;
%???F=400*eye（10）;
????pend_actions=2;
????for?r=1:episodes
????????disp（‘%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%‘）;
????????noise=（2*rand（13）‘-1）.*[2;2;0];%初始化狀態(tài)
????????state=[140;0;0]+0*noise;??
????????z=zeros（271）;
????????step=0;
????????signal=0;
????????endsim=0;
????????mytime=cputime;
????????
????????while??endsim==0
????????????step=step+1;
????????????phi=computphi（state）;
????????????phi_sa=zeros（542）;
????????????for?i=1:pend_actions
????????????????phi_sa（:i）=[phi.*（i==1）;phi.*（i==2）];
????????????end
????????????pi=computpi（phi_satheta）;
????????????psi=computpsi（phi_sapi）;
????????????action=select（pi）;%take?an?action
????????????disp（‘the?action?is‘）;
????????????disp（action）;
%???????????disp（pi0）;
%???????????disp（‘a(chǎn)ction=‘）
%???????????disp（action）;

????????????[nexts?reward?endsim]?=?simulator（stateaction）;
%?????????????disp（‘nexts=‘）;
%?????????????disp（nexts）;
%?????????????disp（‘reward=‘）;
%?????????????disp（reward）;
%?????????????disp（‘endsim=‘）;
%?????????????disp（endsim）;
????????????plot（nexts（31）nexts（11）‘o‘）;
????????????hold?on;
????????????phi2=computphi（nexts）;
????????????state=nexts;
????????????
????????????z=gamma*lambda*z+phi;?%更新適合度軌跡
%?????
%???????????K=F*z/（1+（phi‘-gamma*phi2‘）*F*z）;
%???????????v=v+K*（reward-（phi‘-gamma*phi2‘）*v）;
%???????????F=F-F*z*（phi‘-gamma*phi2‘）*F/（1+（phi‘-gamma*phi2‘）*F*z）;
????????????alpha=0.5;
????????????beta=0.2;
%?????????????alpha=20/（50+step）;
%?????????????beta=1/（25+step）;
????????????delta=reward+gamma*phi2‘*v-phi‘*v;
????????????v=v+alpha*delta*z;
????????????theta2=theta+beta*delta*psi（:action）;
????
????????????t=theta2-theta;
????????????theta=theta2;
????????????distance=norm（t2）;
????????????if?distance>0&&distance%?????????????????signal=1;
????????????????break;
????????????end
????
%?????????????if?j>0||step>1000
%?????????????????signal=1;
%?????????????end
????????????
????????end
????????time（jr）=（cputime-mytime）/step;
????????sstep（jr）=step;
%?????????disp（‘episode=‘）;
%?????????disp（r）;
%?????????disp（‘endsim=‘）;
%?????????disp（endsim）;
????????disp（‘step=‘）;
????????disp（step）;
????????
????????
????????%?[sterew]=evaluate（theta）;
????????%?par（jr）=ste;
????????%?disp（‘step2=‘）;
????????%?disp（ste）;
????end
????[steprew]=evaluate（theta）;
end

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

?????文件???????2765??2014-04-26?19:48??example\AC.asv

?????文件???????2776??2014-04-27?20:36??example\AC.m

?????文件????????414??2014-04-25?11:11??example\computphi.asv

?????文件????????420??2014-04-26?16:11??example\computphi.m

?????文件????????214??2014-04-25?17:38??example\computpi.m

?????文件????????214??2014-04-18?16:32??example\computpsi.m

?????文件????????691??2014-04-26?20:00??example\evaluate.m

?????文件????????140??2014-04-25?23:05??example\select.m

?????文件????????512??2014-04-26?00:11??example\simulator.asv

?????文件????????517??2014-04-27?20:51??example\simulator.m

?????目錄??????????0??2014-04-26?22:20??example

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

?????????????????8663????????????????????11