模糊神經(jīng)網(wǎng)絡(luò)噪聲解耦MATLAB程序

1、模糊神經(jīng)網(wǎng)絡(luò)解耦MATLAB程序例用隸屬函數(shù)型神經(jīng)網(wǎng)與模糊控制融合的解耦程序具有耦合的兩個相鄰子系統(tǒng)的差分方程為 (7.122)式中，隨機(jī)噪聲；為兩個相鄰子系統(tǒng)之間的耦合；采用隸屬函數(shù)型神經(jīng)網(wǎng)與模糊控制融合的解耦方法（DMFFCNN）方法實現(xiàn)解耦控制。1) 開發(fā)的程序p1=0.5;q1=0.5;p2=0.5;q2=0.5;p3=0.5;q3=0.5;p4=0.95;q4=0.5;p5=0.95;q5=0.5;p6=0.95;q6=0.5;p7=0.5;q7=0.5;p8=0.95;q8=0.5;p9=0.5;q9=0.5;p10=0.95;q10=0.5;p11=0.95;q11=0.5;p1

2、2=0.95;q12=0.5;p13=0.65;q13=0.05;%隸屬函數(shù)型神經(jīng)網(wǎng)的中心值、尺度因子和權(quán)向量初始化部分a10=-2 0 2;a11=-2 0 2;a20=-2 0 2;a21=-2 0 2;b10=1.5 1.5 1.5;b11=1.5 1.5 1.5;b20=1.5 1.5 1.5;b21=1.5 1.5 1.5;v0=-1 -0.5 -0.5;-0.5 0 0.5;0.5 0.5 1;v1=-1 -0.5 -0.5;-0.5 0 0.5;0.5 0.5 1;%系統(tǒng)部分的初值yp0=0;yp1=0;ep0=0;ep1=0;up0=1.05;up1=1.39;x1=0.12;

3、x2=0.24;y0=0;y1=0;u1=0;e0=0;e1=0;sp=10;k=1;se=0.02;sd=0.02;su=0.0522;%開始kp=0.284;ki=0.03;kd=0.626;%the second channel referencep12=0.5;q12=0.5;p22=0.5;q22=0.5;p32=0.5;q32=0.5;p42=0.95;q42=0.5;p52=0.95;q52=0.5;p62=0.95;q62=0.5;p72=0.5;q72=0.5;p82=0.95;q82=0.5;p92=0.5;q92=0.5;p102=0.95;q102=0.5;p112=0

4、.95;q112=0.5;p122=0.95;q122=0.5;p132=0.65;q132=0.05;%系統(tǒng)部分的初值yp02=0;yp12=0;ep02=0;ep12=0;up02=1.05;up12=1.39;x12=0.12;x22=0.24;y02=0;y12=0;u12=0;e02=0;e12=0;sp2=5;k=1;se2=0.02;sd2=0.02;su2=0.0522;kp2=0.284;ki2=0.03;kd2=0.626;%+%子系統(tǒng)1(SUB1)的J循環(huán)開始 for J=1:50 ep1=10-yp1; pid=kp*(ep1-ep0)+ki*ep1; up2=up1+

5、pid; yp2=0.5*yp1+2.5*up2+2.5*up1; %yp2=0.8333*yp1-0.1667*yp0+1.6667*up2+1.6667*up1; yp(:,J)=yp2; up0=up1; up1=up2; ep0=ep1; yp0=yp1; yp1=yp2;end time=1:1:50;n=0.28*rand(size(time); %產(chǎn)生的SUB1隨機(jī)噪聲n1=0.3*rand(size(time);%產(chǎn)生的SUB2隨機(jī)噪聲while(k<=50) %function deal with for(T=1:20) X1=x1*se; X2=x2*sd; if(X

6、1<=-2) X1=-2; elseif(X1>=2) X1=2; end if(X2<=-2) X2=-2; elseif(X2>=2) X2=2; end%the hiddening layer output of FNN for i=1:3 for j=1:3 A=(X1-a11(:,i)/b11(:,i).2; B=(X2-a21(:,j)/b21(:,j).2; h(i,j)=exp(-(A+B)/2); endend %the outputsum=0;for i=1:3 for j=1:3 sum=sum+h(i,j)*v1(i,j); endendot=s

7、um;cu=su*ot;u2=u1+cu;disp(u2);if(u2<0)u2=0;elseif(u2>=1) u2=1;end y2=0.5*y1+2.5*u2+2.5*u1+n1(:,k)+0.01*y12; %+n1(:,k)+0.01*y12表示隨機(jī)噪聲和子系統(tǒng)間的相互耦合disp('the output y number is' int2str(T);disp(y2);Y(:,k)=y2;E=0.5*(sp-y2).2;e2=sp-y2;Es(:,k)=e2;x1=e2;x2=e2-e1;e0=e1;e1=e2; delot=(sp-y2)*2.5*su

8、;for i=1:3 for j=1:3 dv=v1(i,j)-v0(i,j); v2=v1(i,j)+p13*delot+q13*dv; v3(i,j)=v2; endend%refreshing the center and width%a11 s1=0; for j=1:3 s1=s1+v1(1,j)*h(1,j); end pa11=s1; a110=a10(:,1); a111=a11(:,1); dela11=pa11*(X1-a111)/b11(:,1).2; da11=a111-a110; a112=a111+p1*dela11+q1*da11; a10(:,1)=a111;

9、a11(:,1)=a112;%a12 s2=0; for j=1:3 s2=s2+v1(2,j)*h(2,j); end pa12=s2; a120=a10(:,2); a121=a11(:,2); dela12=pa12*(X1-a121)/b11(:,2).2; da12=a121-a120; a122=a121+p2*dela12+q2*da12; a10(:,2)=a121; a11(:,2)=a122; %a13 s3=0; for j=1:3 s3=s3+v1(3,j)*h(3,j); end pa13=s3; a130=a10(:,3); a131=a11(:,3); dela1

10、3=pa13*(X1-a131)/b11(:,3).2; da13=a131-a130; a132=a131+p3*dela13+q3*da13; a10(:,3)=a131; a11(:,3)=a132;% b11 pb11=pa11; b110=b10(:,1); b111=b11(:,1); delb11=pb11*(X1-a111).2/b111.3; db11=b111-b110; b112=b111+p4*delb11+q4*db11; b10(:,1)=b111; b11(:,1)=b112;%b12 pb12=pa12; b120=b10(:,2); b121=b11(:,2)

11、; delb12=pb12*(X1-a121).2/b121.3; db12=b121-b120; b122=b121+p5*delb12+q5*db12; b10(:,2)=b121; b11(:,2)=b122;%b13 pb13=pa13; b130=b10(:,3); b131=b11(:,3); delb13=pb13*(X1-a131).2/b131.3; db13=b131-b130; b132=b131+p6*delb13+q6*db13; b10(:,3)=b131; b11(:,3)=b132;%a21 s4=0;for i=1:3 s4=s4+v1(i,1)*h(i,1)

12、;end pa21=s4; a210=a20(:,1); a211=a21(:,1); dela21=pa21*(X2-a211)/b21(:,1).2; da21=a211-a210; a212=a211+p7*dela21+q7*da21; a20(:,1)=a211; a21(:,1)=a212;%a22 s5=0;for i=1:3 s5=s5+v1(i,2)*h(i,2);end pa22=s5; a220=a20(:,2); a221=a21(:,2); dela22=pa22*(X2-a221)/b21(:,2).2; da22=a221-a220; a222=a221+p8*d

13、ela22+q8*da22; a20(:,2)=a221; a21(:,2)=a222;%a23 s6=0; for i=1:3 s6=s6+v1(i,3)*h(i,3); end pa23=s6; a230=a20(:,3); a231=a21(:,3); dela23=pa23*(X2-a231)/b21(:,3).2; da23=a231-a230; a232=a231+p9*dela23+q3*da23; a20(:,3)=a231; a21(:,3)=a232;%b21 pb21=pa21; b210=b20(:,1); b211=b21(:,1); delb21=pb21*(X2-

14、a211).2/b211.3; db21=b211-b210; b212=b211+p10*delb21+q10*db21; b20(:,1)=b211; b21(:,1)=b212;%b22 pb22=pa22; b220=b20(:,2); b221=b21(:,2); delb22=pb22*(X2-a221).2/b221.3; db22=b221-b220; b222=b221+p11*delb22+q11*db22; b20(:,2)=b221; b21(:,2)=b222;%b23 pb23=pa23; b230=b20(:,3); b231=b21(:,3); delb23=p

15、b23*(X2-a231).2/b231.3; db23=b231-b230; b232=b231+p12*delb23+q12*db23; b20(:,3)=b231; b21(:,3)=b232; v0=v1; v1=v3; if(abs(e1)<0.00015) break; end end a11a21b11b21v3 y0=y1; y1=y2 u0=u1; u1=u2;%adding the second channel%權(quán)向量初始化部分a102=-2 0 2;a112=-2 0 2;a202=-2 0 2;a212=-2 0 2;b102=1.5 1.5 1.5;b112=1

16、.5 1.5 1.5;b202=1.5 1.5 1.5;b212=1.5 1.5 1.5;v02=-1 -0.5 -0.5;-0.5 0 0.5;0.5 0.5 1;v12=-1 -0.5 -0.5;-0.5 0 0.5;0.5 0.5 1;%+%子系統(tǒng)2(SUB2)的J循環(huán)開始 for J=1:100 ep2=5-yp12; pid2=kp2*(ep12-ep02)+ki2*ep12; up22=up12+pid2; yp22=0.5*yp12+1.25*up22+1.25*up12; %yp2=0.8333*yp1-0.1667*yp0+1.6667*up2+1.6667*up1; yp2

17、(:,J)=yp22; up02=up12; up12=up22; ep02=ep12; yp02=yp12; yp12=yp22;end %while(k<=250) %function deal widthfor(T=1:20) X12=x12*se2; X22=x22*sd2; if(X12<=-2) X12=-2; elseif(X12>=2) X12=2; end if(X22<=-2) X22=-2; elseif(X22>=2) X22=2; end%the hiddening layer output of FNN, for i=1:3 for j

18、=1:3 A=(X12-a112(:,i)/b112(:,i).2; B=(X22-a212(:,j)/b212(:,j).2; h(i,j)=exp(-(A+B)/2); endend %the outputsum2=0;for i=1:3 for j=1:3 sum2=sum2+h(i,j)*v12(i,j); endendot=sum2;cu=su2*ot;u22=u12+cu;disp(u22);if(u22<0)u22=0;elseif(u22>=1) u22=1;end y22=0.5*y12+1.25*u22+1.25*u12+n(:,k)+0.01*y1; %+n(

19、:,k)+0.01*y1表示隨機(jī)噪聲和子系統(tǒng)間的相互耦合disp('the output y2 number is' int2str(T);disp(y22);Y2(:,k)=y22;E2=0.5*(sp2-y22).2;e22=sp2-y22;E22(:,k)=e22;x12=e22;x22=e22-e12;e02=e12;e12=e22;delot=(sp2-y22)*1.25*su2;for i=1:3 for j=1:3 dv=v12(i,j)-v02(i,j); v22=v12(i,j)+p132*delot+q132*dv; v32(i,j)=v22; endend

20、%refreshing the center and width%a11 s12=0; for j=1:3 s12=s12+v12(1,j)*h(1,j); end pa112=s12; a1102=a102(:,1); a1112=a112(:,1); dela112=pa112*(X12-a1112)/b112(:,1).2; da112=a1112-a1102; a1122=a1112+p12*dela112+q12*da112; a102(:,1)=a1112; a112(:,1)=a1122;%a12 s22=0; for j=1:3 s22=s22+v12(2,j)*h(2,j);

21、 end pa122=s22; a1202=a102(:,2); a1212=a112(:,2); dela122=pa122*(X12-a121)/b112(:,2).2; da122=a1212-a1202; a1222=a1212+p22*dela122+q22*da122; a102(:,2)=a1212; a112(:,2)=a1222; %a13 s32=0; for j=1:3 s32=s32+v12(3,j)*h(3,j); end pa132=s32; a1302=a102(:,3); a1312=a112(:,3); dela132=pa132*(X12-a1312)/b1

22、12(:,3).2; da132=a1312-a1302; a1322=a1312+p32*dela132+q32*da132; a102(:,3)=a1312; a112(:,3)=a1322;% b11 pb112=pa112; b1102=b102(:,1); b1112=b112(:,1); delb112=pb112*(X12-a111).2/b1112.3; db112=b1112-b1102; b1122=b1112+p42*delb112+q42*db112; b102(:,1)=b1112; b112(:,1)=b1122;%b12 pb122=pa122; b1202=b1

23、02(:,2); b1212=b112(:,2); delb122=pb122*(X12-a1212).2/b1212.3; db122=b1212-b1202; b1222=b1212+p52*delb122+q52*db122; b102(:,2)=b1212; b112(:,2)=b1222;%b13 pb132=pa132; b1302=b102(:,3); b1312=b112(:,3); delb132=pb132*(X12-a1312).2/b1312.3; db132=b1312-b1302; b1322=b1312+p62*delb132+q62*db132; b102(:,

24、3)=b1312; b112(:,3)=b1322;%a21 s42=0;for i=1:3 s42=s42+v12(i,1)*h(i,1);end pa212=s42; a2102=a202(:,1); a2112=a212(:,1); dela212=pa212*(X22-a2112)/b212(:,1).2; da212=a2112-a2102; a2122=a2112+p72*dela212+q72*da212; a202(:,1)=a2112; a212(:,1)=a2122;%a22 s52=0;for i=1:3 s52=s52+v12(i,2)*h(i,2);end pa222

25、=s52; a2202=a202(:,2); a2212=a212(:,2); dela222=pa222*(X22-a2212)/b212(:,2).2; da222=a2212-a2202; a2222=a2212+p82*dela222+q82*da222; a202(:,2)=a2212; a212(:,2)=a2222;%a23 s62=0; for i=1:3 s62=s62+v1(i,3)*h(i,3); end pa232=s62; a2302=a202(:,3); a2312=a212(:,3); dela232=pa232*(X22-a2312)/b212(:,3).2;

26、da232=a2312-a2302; a2322=a2312+p92*dela232+q32*da232; a202(:,3)=a2312; a212(:,3)=a2322;%b21 pb212=pa212; b2102=b202(:,1); b2112=b212(:,1); delb212=pb212*(X22-a2112).2/b2112.3; db212=b2112-b2102; b2122=b2112+p102*delb212+q102*db212; b202(:,1)=b2112; b212(:,1)=b2122;%b22 pb222=pa222; b2202=b202(:,2);

27、b2212=b212(:,2); delb222=pb222*(X22-a2212).2/b2212.3; db222=b2212-b2202; b2222=b2212+p112*delb222+q112*db222; b202(:,2)=b2212; b212(:,2)=b2222;%b23 pb232=pa232; b2302=b202(:,3); b2312=b212(:,3); delb232=pb232*(X22-a2312).2/b2312.3; db232=b2312-b2302; b2322=b2312+p122*delb232+q122*db232; b202(:,3)=b2

28、312; b212(:,3)=b2322; v02=v12; v12=v32; if(abs(e12)<0.00015) break; endend if(abs(e1)<=eps & abs(e)<=eps) break;else k=k+1;end y02=y12; y12=y22; u02=u12; u12=u22;endL=k-1; n2=n;%L=k;m=1:L;R=ones(size(m);sp=R*10;sp2=R*5;a112a212b112b212v12%plot(m,sp,'r',m,y,'g',m,y,'g

29、o',m,y,'g.',m,yp,'b');subplot(2,1,1);plot(m,sp,'k', m,Y,'rx',m,sp2,'k', m,Y2,'bx',m,Es,'r',m,E22,'b');legend('sp is SUB1-input','Y is SUB1-decoupling','sp2 is SUB2-input','Y2 is SUB2-decoupling','Es is error1','E22 is error2' ); %圖標(biāo)炷 title('The decoupling by FNN algorithm'),xlabel('k'),ylabel('yp,y and sp2,y2')subplot(2,1,2);plot(m,n1,'k',