2、.H0.y.l«Q.”lH0.<*(•>-2-iiat»le
3、i«i{•«1mmIW««t
4、»U«QU«v"r«U4VibAotk«OBUm<»)舶9三角输入clearall;closeall;u_l=0;y_l=0;ym_l=0;x=[0,0,0:)f；c=[-3-2-1123;-3-2-1123;-3-2-1123];b=2*ones(6,1)；w=[0.82830.3887-0.8872-0
5、.36680.82330.8274];xite=0.45;alfa=0.05;h=[0,0,0,0,0,0]•;c_l=c;c_2=c;b_l=b;b_2=b;w_l=w;w_2=w;ts=0•001;fork=l:1:4000time(k)=k*ts;r(k)=0.2*sawtooth(2*pi*k*ts,0.5);ym(k)=0.6*ym_l+r(k);y(k)=(-0•l*y_l+u_l)/(l+y_lA2);%Nonlinearplantforj=l:1:6h(j)=exp(-norm(x-c(:
6、,j))A2/(2*b(j)*b(j)));endu(k)=wf*h;ec(k)=ym(k)-y(k);dyu(k)=sign((y(k)-y_l)/(u(k)-u_l));d_w=0*w;forj=l:1:6d_w(j)=xite*ec(k)*h(j)*dyu(k);endw=w_l+d_w+alfa*(w_l-w_2);d_b=0*b;forj=l:1:6d_b(j)=xite*ec(k)*w(j)*h(j)*(b(j)A-3)*norm(x-c(:,j〉〉A2*dyu(k);b=b_l+d_b+al
7、fa*(b_l-b_2);d_c=O*c;forj=l:1:6*dyu(k);fori=l:1:3d_c(izj)=xite*ec(k)*w(j)*h(j)*(x(i)-c(izj))*(b(j)A-2endendc=c_l+d_c+alfa*(c_l-c_2);u_l=u(k);y_i=y(k);ym_l=ym(k);X(1)=r(k);x(2)=ec(k);X(3)=y(k);w_2=w_l;w_l=w;c_2=c_l;c_l=c;b2=b1;bl=b;endfigure(1);plot(time,y
8、m,1r•,time,y,•b1);xlabel(1time(s)1);ylabel(1ym,y1);figure(2);plot(time,u);xlabel(1time(s)丨)；ylabel(丨Controlinput1);鋸齿波输入clearall;closeall;u一1=0;Y_l=0;ym_l=0;x=[0,0,0]，；c=[-3-2-1123;-3-2-1123;-3-2-1123];b=2*ones(6,1);w=[0.7721-0.9147-0.32520.75261.23180.66
9、02];xite=0.13;alfa=Q.1;h=[0,0,0,0,0,0]•;c_l=c;c_2=c;b_l=b;b_2=b;w_l=w;w_2=w;ts=O•001;fork=l:l:5000time(k)=k*ts;r(k)=0.29*sawtooth(2*pi*k*ts,1);ym(k)=0.6*ym_l+r(k);y(k)=(-0.1*y_l+u_l)/(l+y_lA2);forj=l:1:6h(j)=exp(-norm(x-c(:,j))A2/(2*b(j)*b(j)));endu(k)=w'
10、*h;ec(k)=ym(k)一y(k);dyu(k)=sign((y(k)-y_l)/(u(k)-u_l));d_w=0*w;forj=l:1:6d_w(j)=xite*ec(k)*h(j)*dyu(k);endw=w_l+d_w+alfa*(w_l-w_2);d_b=0*b;forj=l:1:6d_b(j)=xite*ec(k)*w(j)*h(j)*(b(j)A-3)*norm(x-c(:,j))A2*dyu(k);endb
