机器人的鲁棒神经网络控制仿真程序 结果.docVIP

%机器人的鲁棒神经网络控制仿真程序 %The model of two link robot manipulatou. %m1 is the mass of arm1; %m2 is the mass of arm2; %l1 is the length of arm1; %l2 is the length of arm2; %g is the acceleration of gravity; %t1k is the torque on arm1 at time k; %t2k is the torque on arm2 at time k; %angl1k is the angle of arm1 under t1 at time k; %angl2k is the angle of arm2 under t2 at time k; %velo1k is the velocity of arm1 at time k; %velo2k is the velocity of arm2 at time k; %acce1k is the accelerity of arm1 at time k; %acce2k is the accelerity of arm2 at time k; %angl1k1 is the angle of arm1 under t1 at time k+1; %angl2k1 is the angle of arm2 under t2 at time k+1; %velo1k1 is the velocity of arm1 at time k+1; %velo2k1 is the velocity of arm2 at time k+1; %acce1k1 is the accelerity of arm1 at time k+1; %acce2k1 is the accelerity of arm2 at time k+1; %dt is the sampling period. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% angl1k1=0.5; angl2k1=0.5; velo1k1=0; velo2k1=0; acce1k1=0; acce2k1=0; dt=0.0005; t=0; m1=4; m2=2; l1=1; l2=0.5; g=9.8; %%%%%%%%%%%initial controller parametres%%%%%%%%%%% alpha=50; ks1=0.1; ks2=0.1; gama=0.05; lv=0.1; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% W1=random(unif,0,1,4,4); W2k1=random(unif,0,1,2,4);%W2(k+1) %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% ANG1=[]; ANG2=[]; DEANG1=[]; DEANG2=[]; E1=[]; E2=[]; TIME=[]; TOR1=[]; TOR2=[]; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% for iternum=1:8000 %%sampling angl1k=angl1k1; angl2k=angl2k1; velo1k=velo1k1; velo2k=velo2k1; acce1k=acce1k1; acce2k=acce2k1; W2k=W2k1; %%computing the desired trajectory t=t+dt; de_angl1k=sin(2*pi*t); de_angl2k=cos(2*pi*t); de_velo1k=2*pi*cos(2*pi*t); de_velo2k=-2*pi*sin(2*pi*t); de_acce1k=-4*pi*pi*sin(2*pi*t); de_acce2k=-4*pi*pi*cos(2*pi*t); QD=[de_angl1k de_angl2k]; QDCHG=[de_velo1k de_velo2k]; QDACC=[de_acce1k de_acce2k]; WDCHG=[de_acce1k de_acce2k]; %%computing the er