基于神经网络的一阶倒立摆控制matlab源码.7z

上传者: mohen_777 | 上传时间: 2024-09-10 09:16:49 | 文件大小: 6.12MB | 文件类型: 7Z
基于神经网络的一阶倒立摆控制 Inverted-pendulum 基于神经网络的一阶倒立摆控制 介绍 两个模型均采用传统LQR控制器控制一阶倒立摆,为了体会学习神经网络的数据拟合能力,使用BP、RBF神经网络代替LQR控制器,实现对一阶倒立摆的控制效果 模型来自万能的Github,个人部分:将神经网络代替LQR控制器,实现控制效果 Modle1 Modle1基于Matlab的SimMechanics工具箱,建立一阶倒立摆的物理仿真模型,模拟真实倒立摆的受力情况 Initial 运行“dlb_DataFile.m”文件,为仿真模型提供初始化参数设置 运行“dlb_fangzhen.slx”文件(已调参),采集LQR控制器对应的“4输入-1输出数据” 4输入:位置、速度、角度、角速度 1输出:加速度 Process 将保存在工作区的数据以“.mat”的文件格式保存到“File”文件夹 运行“BP.m”代码,拟合训练BP神经网络,并生成可供Simulink调用的网络模块 替换原有的LQR控制器,再次运行文件,观看倒立摆的摆动幅度、稳定时间 Modle2 Modle2基于纯数学模型,

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