%用隶属函数型神经网与模糊控制融合的解耦程序（FLch7FNNeg3.m）
1) 开发的程序
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;
p12=0.95;
q12=0.5;
p13=0.65;
q13=0.05;
%隶属函数型神经网的中心值、尺度因子和权向量初始化部分
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];
%系统部分的初值
yp0=0;
yp1=0;
ep0=0;
ep1=0;
up0=1.05;
up1=1.39;
x1=0.12;
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;
%开始
kp=0.284;
ki=0.03;
kd=0.626;
%the second channel reference
p12=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=0.95;
q112=0.5;
p122=0.95;
q122=0.5;
p132=0.65;
q132=0.05;
%系统部分的初值
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;
%+++++++++++++++++++++++++++++++++++++++%子系统1(SUB1)的J循环开始
for J=1:50
ep1=10-yp1;
pid=kp*(ep1-ep0)+ki*ep1;
up2=up1+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)); %产生的SUB1随机噪声
n1=0.3*rand(size(time));%产生的SUB2随机噪声
while(k %function deal with
for(T=1:20)
X1=x1*se;
X2=x2*sd;
if(X1 X1=-2;
elseif(X1>=2)
X1=2;
end
if(X2 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);
end
end
%the output
sum=0;
for i=1:3
for j=1:3
sum=sum+h(i,j)*v1(i,j);
end
end
ot=sum;
cu=su*ot;
u2=u1+cu;
disp(u2);
if(u2 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表示随机噪声和子系统间的相互耦合
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;
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;
end
end
%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;
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);
dela13=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);
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);
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*dela22+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-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=pb23*[(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) break;
end
end
a11
a21
b11
b21
v3
y0=y1;
y1=y2
u0=u1;
u1=u2;
%adding the second channel
%权向量初始化部分
a102=[-2 0 2];
a112=[-2 0 2];
a202=[-2 0 2];
a212=[-2 0 2];
b102=[1.5 1.5 1.5];
b112=[1.5 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];
%+++++++++++++++++++++++++++++++++++++%子系统2(SUB2)的J循环开始
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(:,J)=yp22;
up02=up12;
up12=up22;
ep02=ep12;
yp02=yp12;
yp12=yp22;
end
%while(k %function deal width
for(T=1:20)
X12=x12*se2;
X22=x22*sd2;
if(X12 X12=-2;
elseif(X12>=2)
X12=2;
end
if(X22 X22=-2;
elseif(X22>=2)
X22=2;
end
%the hiddening layer output of FNN,
for i=1:3
for j=1:3
A=[(X12-a112(:,i))/b112(:,i)].^2;
B=[(X22-a212(:,j))/b212(:,j)].^2;
h(i,j)=exp(-(A+B)/2);
end
end
%the output
sum2=0;
for i=1:3
for j=1:3
sum2=sum2+h(i,j)*v12(i,j);
end
end
ot=sum2;
cu=su2*ot;
u22=u12+cu;
disp(u22);
if(u22 u22=0;
elseif(u22>=1)
u22=1;
end
y22=0.5*y12+1.25*u22+1.25*u12+n(:,k)+0.01*y1; %+n(:,k)+0.01*y1表示随机噪声和子系统间的相互耦合
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;
end
end
%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);
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)/b112(:,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=b102(:,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(:,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=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;
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);
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)=b2312;
b212(:,3)=b2322;
v02=v12;
v12=v32;
if(abs(e12) break;
end
end
if(abs(e1) break;
else
k=k+1;
end
y02=y12;
y12=y22;
u02=u12;
u12=u22;
end
L=k-1; n2=n;
%L=k;
m=1:L;
R=ones(size(m));
sp=R*10;
sp2=R*5;
a112
a212
b112
b212
v12
%plot(m,sp,'r',m,y,'g',m,y,'go',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' ); %图标炷
title('The decoupling by FNN algorithm'),
xlabel('k'),
ylabel('yp,y and sp2,y2')
subplot(2,1,2);
plot(m,n1,'k',m,n2,'r');
legend('n1 is SUB1-noise','n2 is SUB2-noise' ); %图标炷
xlabel('k'),ylabel('random noise')
