%輸出控制力矩列表
FcTable=[-3-2.5-2-1.5-1-0.5-0.300.30.511.522.53];
global?N_Fc
N_Fc=size（FcTable）;?N_Fc=N_Fc（2）;

%DQN神經(jīng)網(wǎng)絡(luò)初始化
QNet_eval=fitnet（[4040]）;

%訓(xùn)練神經(jīng)網(wǎng)絡(luò)，規(guī)定輸入輸出
S_ini=150;
Iniset=zeros（6S_ini）;??%前五行為輸入，最后一行為目標(biāo)輸出。第一行X，第二行dotX，第三行θ，第四行dotθ，第五行Fc
Iniset（1:）=0.5*rand（1S_ini）-0.5*rand（1S_ini）;
Iniset（2:）=0.1*rand（1S_ini）-0.1*rand（1S_ini）;
Iniset（3:）=（2*rand（1S_ini）-2*rand（1S_ini））*pi/180;????????????%單位為弧度
Iniset（4:）=（2*rand（1S_ini）-2*rand（1S_ini））*pi/180;????????????%單位為弧度
Iniset（5:）=unidrnd（N_Fc1S_ini）;
for?i=1:S_ini
????Iniset（6i）=Reward_Cal（Iniset（1:4i））;
end?

QNet_eval=train（QNet_evalIniset（1:5:）Iniset（6:））;
QNet_target=QNet_eval;
%將神經(jīng)網(wǎng)絡(luò)訓(xùn)練算法設(shè)置為自適應(yīng)動(dòng)量梯度下降法
QNet_eval.trainFcn=‘traingdx‘;??
%關(guān)閉訓(xùn)練圖窗nntraintool
%QNet_eval.trainParam.showWindow=0;


%學(xué)習(xí)參數(shù)初始化
global?alpha?gamma
alpha=0.55;?????????????????%學(xué)習(xí)率alpha
gamma=0.99;?????????????????%獎(jiǎng)勵(lì)傳遞效率gamma
nBatch=400;?????????????????%神經(jīng)網(wǎng)絡(luò)單次訓(xùn)練調(diào)用的樣本量
N_gap=400;??????????????????%神經(jīng)網(wǎng)絡(luò)訓(xùn)練的頻率
N_renew=3*N_gap;????????????%目標(biāo)神經(jīng)網(wǎng)絡(luò)更新的頻率

%Replaymemory初始化???
S_memo=4000;????????????????%MemoSize
Rmemo=zeros（9S_memo）;??????%1-4:CPstate5act6-9:newstate
Memopointer=1;??????????????%Replay?memory的寫(xiě)入指針

%}

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----

?????文件???????1403??2020-03-04?13:22??CartPoleDQN_DEMO\AgentInitializer.m

?????文件???????1155??2020-03-04?10:14??CartPoleDQN_DEMO\CalculationQtarget.m

?????文件????????280??2020-03-04?13:24??CartPoleDQN_DEMO\CartPoleInitializer.m

?????文件????????377??2020-03-04?09:18??CartPoleDQN_DEMO\CartPoleReset.m

?????文件???????3291??2020-03-07?16:44??CartPoleDQN_DEMO\CartPole_DQN.m

?????文件????????619??2020-03-03?10:35??CartPoleDQN_DEMO\CartPole_Eqs.m

?????文件????????157??2020-02-25?11:40??CartPoleDQN_DEMO\PointerMove.m

?????文件????????204??2020-03-04?13:50??CartPoleDQN_DEMO\Reward_Cal.m

?????文件????????422??2020-03-04?10:28??CartPoleDQN_DEMO\tcegreedy.m

?????目錄??????????0??2020-03-07?14:57??CartPoleDQN_DEMO

-----------?---------??----------?-----??----

?????????????????7908????????????????????10