matlab 为空这么表示,Matlab中变量为空是怎么回事

%This function shows the simulation result of robot manipulator control

%bassed Fuzzy Bspline Net

global angl1k;%angle at time K;

global angl1k1;%angle at time K+1;

global angl2k;%angle at time K;

global angl2k1;%angle at time K+1;

global velo1k;

global velo1k1;

global velo2k;

global velo2k1;

global acce1k;

global acce1k1;

global acce2k;

global acce2k1;

global t;%sampling period

global x;

angl1k1=0;

angl2k1=0;

velo1k1=0;

velo2k1=0;

acce1k1=0;

acce2k1=0;

erro1k=0;

erro2k=0;

erro1k_1=0;

erro2k_1=0;

x=1;

t1k=0;%torque apply on link1 at time K;

t2k=0;%torque apply on link2 at time K;

rule=[-5 -5 -5 -5 -5 -5 -5 -4 -3 -2 0 0 0;

-5 -5 -5 -5 -5 -5 -5 -4 -3 -2 0 0 0;

-5 -5 -5 -5 -5 -5 -5 -3 -3 -2 0 0 0;

-4 -4 -4 -4 -4 -4 -4 -3 -2 -1 1 1 1;

-4 -4 -4 -4 -4 -4 -4 -2 -1 0 2 2 2;

-4 -4 -4 -3 -3 -3 -3 -1 2 2 3 3 3

-4 -4 -4 -3 -3 -1 0 1 3 3 4 4 4

-3 -3 -3 -2 -2 1 3 3 3 3 4 4 4

-2 -2 0 0 1 2 4 4 4 4 4 4 4

-1 -1 0 1 2 3 4 4 4 4 4 4 4

0 0 1 2 3 4 5 5 5 5 5 5 5

0 0 1 2 3 4 5 5 5 5 5 5 5

0 0 1 2 3 4 5 5 5 5 5 5 5];

ke1=200;

kec1=1;

kcw1=600;

ke2=200;

kec2=1;

kcw2=100;

A1=[];%angle1 matrix

A2=[];%angle2 matrix;

DA1=[];

DA2=[];

ERR1=[];

ERR2=[];

X=[];%x axis matrix

% % % % % % % % % % % % % % % % % % % % % % % %

ovectornum=[1 2 3

4 5 6];%????

tvectornum=[7 8 9;10 11 12];

load 'checkpoints.mat';

xpotvector=[-2.25 -2 -1.75 -1.5 -1.25 -1 -0.75 -0.5 -0.25 0 0.25

-1.25 -1 -0.75 -0.5 -0.25 0 0.25 0.5 0.75 1 1.25

0.25 0 0.25 0.5 0.75 1 1.25 1.5 1.75 2 2.25

-2.25 -2 -1.75 -1.5 -1.25 -1 -0.75 -0.5 -0.25 0 0.25

-1.25 -1 -0.75 -0.5 -0.25 0 0.25 0.5 0.75 1 1.25

-0.25 0 0.25 0.5 0.75 1 1.25 1.5 1.75 2 2.25

-2.25 -2 -1.75 -1.5 -1.25 -1 -0.75 -0.5 -0.25 0 0.25

-1.25 -1 -0.75 -0.5 -0.25 0 0.25 0.5 0.75 1 1.25

-0.25 0 0.25 0.5 0.75 1 1.25 1.5 1.75 2 2.25

-2.25 -2 -1.75 -1.5 -1.25 -1 -0.75 -0.5 -0.25 0 0.25

-1.25 -1 -0.75 -0.5 -0.25 0 0.25 0.5 0.75 1 1.25

-0.25 0 0.25 0.5 0.75 1 1.25 1.5 1.75 2 2.25];

cnum=9;

%main

for i=0:1999

erro1k_1=erro1k;

erro2k_1=erro2k;

angl1k=angl1k1;

angl2k=angl2k1;

velo1k=velo1k1;

velo2k=velo2k1;

acce1k=acce1k1;

acce2k=acce2k1;

x=x+t;

de_angl1k=sin(2*pi*x);

de_angl2k=sin(2*pi*x);

%de_angl1k=1;

%de_angl2k=1;

erro1k=de_angl1k-angl1k;

derro1k=(erro1k-erro1k_1)/t; %error1 change volicity

erro2k=de_angl2k-angl2k;

derro2k=(erro2k-erro2k_1)/t;

% % % % % % % % % % % % % % % % % % % % % % %

E1=round(erro1k*ke1);

if E1>6

E1=6;

elseif E1

E1=-6;

end

EC1=round(derro1k*kec1);

if EC1>6

EC1=6;

elseif EC1

EC1=-6;

end

% % % % % % % % % % % % % % % % % % % % % % %

E2=round(erro2k*ke2);

if E2>6

E2=6;

elseif E2

E2=-6;

end

EC2=round(derro2k*kec2);

if EC2>6

EC2=6;

elseif EC2

EC2=-6;

end

% % % % % % % % % % % % % % % % % % % % % % %

%Fuzzy Bspline Net

% % % % % % % % % % % % % % % % % % % % % % %

out1_one(1)=E1/6;

out1_one(2)=EC1/6;

out1_two(1)=E2/6;

out1_two(2)=EC2/6;

%network1

%second layer,getting B spline membership

for i=1:2

for j=1:3

m=ovectornum(i,j);

if out1_one(i)>=xpotvector(m,1)&out1_one(i)

out2_one(i,j)=cpvector(m,1)*(out1_one(i)-xpotvector(m,1))/(xpotvector(m,2)-xpotvector(m,1));

end

if out1_one(i)>=xpotvector(m,cnum+1)&out1_one(i)

out2_one(i,j)=cpvector(m,cnum)*(xpotvector(m,cnum+2)-out1_one(i))/(xpotvector(m,cnum+2)-xpotvector(m,cnum+1));

end

for p=1:cnum-1

if out1_one(i)>=xpotvector(m,p+1)&out1_one(i)

out2_one(i,j)=cpvector(m,p)*(xpotvector(m,p+2)-out1_one(i))/(xpotvector(m,p+2)-xpotvector(m,p+1))+cpvector(m,p+1)*(out1_one(i)-xpotvector(m,p+1))/(xpotvector(m,p+2)-xpotvector(m,p+1));

end

end

end

end

%third layer,'and operation'

for i=1:3

for j=1:3

out3_one(i,j)=out2_one(1,i)*out2_one(2,j);

end

end

%forth layer defuzzization

sumone=0;

wholesumone=0;

for i=1:3

for j=1:3

sumone=sumone+out3_one(i,j);

wholesumone=wholesumone+out3_one(i,j)*weight3_one(i,j);

end

end

netout(1)=wholesumone/sumone;

%network2

%first layer

for i=1:2

for j=1:3

m=tvectornum(i,j);

if out1_two(i)>=xpotvector(m,1)&out1_one(i)

out2_two(i,j)=cpvector(m,1)*(out1_two(i)-xpotvector(m,1))/(xpotvector(m,2)-xpotvector(m,1));

end

if out1_two(i)>=xpotvector(m,cnum+1)&out1_two(i)

out2_two(i,j)=cpvector(m,cnum)*(xpotvector(m,cnum+2)-out1_two(i))/(xpotvector(m,cnum+2)-xpotvector(m,cnum+1));

end

for p=1:cnum-1

if out1_two(i)>=xpotvector(m,p+1)&out1_two(i)

out2_one(i,j)=cpvector(m,p)*(xpotvector(m,p+2)-out1_two(i))/(xpotvector(m,p+2)-xpotvector(m,p+1))+cpvector(m,p+1)*(out1_two(i)-xpotvector(m,p+1))/(xpotvector(m,p+2)-xpotvector(m,p+1));

end

end

end

end

%third layer,'and operation'

for i=1:3

for j=1:3

out3_two(i,j)=out2_two(1,i)*out2_two(2,j);

end

end

%forth layer defuzzization

sumtwo=0;

wholesumtwo=0;

for i=1:3

for j=1:3

sumtwo=sumtwo+out3_two(i,j);

wholesumtwo=wholesumtwo+out3_two(i,j)*weight3_two(i,j);%加权值进行模糊化

end

end

netout(2)=wholesumtwo/sumtwo;

%fifth layer

wn(1)=weight4(1,1)*netout(1)+weight4(1,2)*netout(2);

wn(2)=weight4(2,1)*netout(1)+weight4(2,2)*netout(2);

t1k=wn(1)*kcw1*6;

t2k=wn(2)*kcw2*6;

% % % % % % % % % % % % % % % % % % % % % % %

[angl1k1,angl2k1,velo1k1,velo2k1,acce1k1,acce2k1]=robot(t1k,t2k,angl1k,angl2k,velo1k,velo2k,acce1k,acce2k,t);

% % % % % % % % % % % % % % % % % % % % % % %

A1=[A1,angl1k];

A2=[A2,angl2k];

DA1=[DA1,de_angl1k];

DA1=[DA1,de_angl2k];

ERR1=[ERR1,erro1k];

ERR2=[ERR2,erro2k];

X=[X,x];

end

figure(1)

plot(X,A1,'-',X,DA1,'-');

figure(2)

plot(X,A21,'-',X,DA2,'-');

figure(3)

plot(x,ERR1,'*')

axis([0 1 -0.15 0.15]);

figure(4)

plot(X,ERR2,'*');

axis([0 1 -0.15 0.15]);

savefile='checkpoints.mat';

weight3_one=[-1.3528 -1.2754 0.2837

-1.0793 -0.3656 1.2762

-0.2773 0.5975 1.3375];

weight3_two=[-0.9358 -1.2305 -0.5353

-1.0460 0.2630 0.4732

-0.1908 1.7938 1.3357];

cpvector=[     0 0.1429 0.2857 0.4286 0.5714 0.7143 0.8571 1.0000 0.8571 0.7143 0.4287 0.4287 0.4405 0.4651 0.2872

0 0.1429 0.2857 0.5714 0.5714 0.5677 0.5733 0.8563 0.5007 0.5045 0.5014 0.4995 0.4966 0.4909 0.0547

0.9142 0.5397 0.5541 0.5650 0.5714 0.5816 0.6007 0.9472 0.8571 0.7143 0.5714 0.4286 0.2857 0.1429      0

0 0.1429 0.2857 0.4286 0.5714 0.7143 0.8571 1.0000 0.8571 0.7143 0.4114 0.4084 0.4092 0.4103 0.9379

0 0.1429 0.2857 0.5821 0.5837 0.5832 0.5837 0.9509 0.4260 0.4263 0.4293 0.4286 0.4163 0.2826 0.0007

0.5040 0.4353 0.4405 0.4286 0.4317 0.5877 0.7098 0.9985 0.8571 0.7143 0.5714 0.4286 0.3857 0.1429      0

0 0.1429 0.2857 0.4286 0.5714 0.7143 0.8571 0.8748 0.7385 0.5818 0.5881 0.5710 0.5742 0.5490 0.6883

0.1713 0.2644 0.4946 0.5736 0.5757 0.5752 0.5664 0.4579 0.5226 0.5388 0.5371 0.5328 0.5291 0.5316 0.0064

0.6819 0.6454 0.6416 0.6500 0.5840 0.5936 0.5988 0.9801 0.8571 0.7143 0.5714 0.4286 0.2857 0.1426      0

0 0.1429 0.2857 0.4286 0.5714 0.7143 0.8571 0.9939 0.4472 0.4271 0.4362 0.4464 0.4298 0.4548 0.9375

0.2548 0.5588 0.5772 0.5718 0.5757 0.5822 0.5735 0.7332 0.5045 0.4912 0.4959 0.4924 0.4945 0.4781 0.3072

0.4993 0.4268 0.4120 0.4170 0.4129 0.4244 0.4815 0.8993 0.8571 0.7143 0.5714 0.4286 0.2857 0.1429      0];

weight4=[0.3167 1.1974;1.6862 -0.8926];

save(savefile, 'weight3_one', 'weight3_two','cpvector','weight4')

运行时x变量为空，希望帮助看看。