神经网络的水下机器人控制

基于神经网络的水下机器人控制，里面有水下机器人的建模模型

function aaaaaaa=under_robot（）

clc;
clear all
%global S_0
global W
W=rand（56）/10;
yW=rand（405）/10;yc=rand（4034）/10;yB=rand（4034）/10+1; %40 rule numbers and 34 input variable
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%系统调节参数%%%%%%%%%%%%%%%%%%%%%%%%%
 %---------------------------------系统初始值--------------------------%
Tmax=10;t=0; h=0.01;    %仿真时间
    %会出现奇异问题。该怎么解决。%该控制器可能存在奇异问题。如何解决呢？能否和非奇异terminal 结合起来呢。
x10=[0.5;0.5;4;4;4;4;zeros（61）];    %初角度和初始角速度
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%程序仿需要参数%%%%%%%%%%%%%%%%%%%%
     n=1;   u=0;
%--------------------------------主程序-------------------------------%
 while t<=Tmax       
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%四阶龙格计算%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%     
 [udXdyWdycdyB]=derives（tx10yWycyBu）;
       m1=h*dX; t=t+0.5*h;X=x10+0.5*m1;  
       n1=h*dyW;          YW=yW+0.5*n1;  
       o1=h*dyc;          Yc=yc+0.5*o1;
       p1=h*dyB;          YB=yB+0.5*p1;         
    [udXdyWdycdyB]=derives（tXYWYcYBu）;
       m2=h*dX;           X=x10+0.5*m2;  
       n2=h*dyW;          YW=yW+0.5*n2;  
       o2=h*dyc;          Yc=yc+0.5*o2;
       p2=h*dyB;          YB=yB+0.5*p2;       
    [udXdyWdycdyB]=derives（tXYWYcYBu）;
       m3=h*dX; t=t+0.5*h; X=x10+m3; 
       n3=h*dyW;          YW=yW+0.5*n3;  
       o3=h*dyc;          Yc=yc+0.5*o3;
       p3=h*dyB;          YB=yB+0.5*p3;       
    [udXdyWdycdyB]=derives（tXYWYcYBu）;    
    m4=h*dX;     n4=h*dyW;    o4=h*dyc;  p4=h*dyB;
     x10=x10+（1/6）*（m1+2*m2+2*m3+m4）; 
     yW=yW+（1/6）*（n1+2*n2+2*n3+n4）; 
     yc=yc+（1/6）*（o1+2*o2+2*o3+o4）;
     yB=yB+（1/6）*（p1+2*p2+2*p3+p4）;  
     
  %%%%%%%%%%%%%%%%%%%%%%保存结果%%%%%%%%%%%%%%%%%%%%%   
     YY（:n）=x10（1:end:）;time（n）=t; UU（:n）=u;    n=n+1; 
     
 end 
  %%%%%%%%%%%%%%%%%%%%%%%ploting%%%%%%%%%%%%%%%%%%%%%
    t=time;
  R1=2*sin（t）;R2=2*sin（2*t）;R3=2*sin（4*t）;R4=10*sin（0.25*t）;R5=10*sin（0.5*t）;R6=2*sin（2*t）;
  
  
   figure（1） ; plot（timeR1‘b‘timeYY（1:）‘r‘）;grid on ;legend（‘x positon‘）  
  figure（2）;  plot（timeR2‘b‘timeYY（2:）‘r‘）;grid on ; legend（‘y positon‘）  
  figure（3）;  plot（timeR3‘b‘timeYY（3:）‘r‘）;grid on  ;legend（‘z positon‘）   
    figure（4） ; plot（timeR4‘b‘timeYY（4:）‘r‘）;grid on   ;legend（‘pitch angle speed‘）  
  figure（5）;  plot（timeR5‘b‘timeYY（5:）‘r‘）;grid on   ;legend（‘roll angle speed‘）  
  figure（6）;  plot（timeR6‘b‘timeYY（6:）‘r‘）;grid on   ;legend（‘yaw angle speed‘）  

  figure（7）; plot（timeUU（1:））;grid on
 figure（8）; plot（timeUU（2:）‘b‘）;grid on
  figure（9）; plot（timeUU（3:）‘b‘）;grid on
    figure（10）; plot（timeUU（4:））;grid on
 figure（11）; plot（timeUU（5:）‘b‘）;grid on
  figure（12）; plot（timeUU（6:）‘b‘）;grid on
  
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%--子函数----%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function     [udXdyWdycdyB]=derives（tXXYWYcYBu）
expa

 属性            大小     日期    时间   名称
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     文件      13188  2013-01-23 09:16  under_robot.m

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                13188                    1