%%?清空環(huán)境變量
clc
clear

%%?粒子初始化
%粒子群算法中的兩個參數(shù)
c1=1.49445;
c2=1.49445;
%最大最小權(quán)值
wmax=0.9;
wmin=0.1;
%最大最小速度
Vmax=0.03;
Vmin=-0.03;
%最大最小個體
popmax=0.3;
popmin=-0.3;

maxgen=50;????%?進(jìn)化次數(shù)??
sizepop=20;???%種群規(guī)模

%隨機(jī)產(chǎn)生一個種群
for?i=1:sizepop???
????pop（i:）=0.03*rand（145）;??%個體編碼
????fitness（i）=fun（pop（i:））;???%染色體的適應(yīng)度
????V（i:）=0.003*rands（145）;??%初始化速度
end

%%?初始種群極值
%找最好的染色體
[bestfitness?bestindex]=min（fitness）;
zbest=pop（bestindex:）;???%全局最佳
gbest=pop;????%個體最佳
fitnessgbest=fitness;???%個體最佳適應(yīng)度值
fitnesszbest=bestfitness;???%全局最佳適應(yīng)度值

%%?迭代尋優(yōu)
for?i=1:maxgen
????i
????for?j=1:sizepop
????????w=（wmax-wmin）*（i-1）/（maxgen）+wmin;???%權(quán)值線性變化
????????V（j:）=w*V（j:）?+?c1*rand*（gbest（j:）?-?pop（j:））?+?c2*rand*（zbest?-?pop（j:））;???%速度更新
????????V（jfind（V（j:）>

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????14463??2019-04-11?08:49??StewartPlatform\Interfere_signal.slx

?????文件???????1526??2016-09-01?11:00??StewartPlatform\license.txt

?????文件???????7282??2019-04-12?09:03??StewartPlatform\PIDnetwork.asv

?????文件???????7282??2019-04-12?09:03??StewartPlatform\PIDnetwork.m

?????文件??????15088??2002-08-30?01:54??StewartPlatform\StewartControllers.mdl

?????文件???????3259??2003-06-26?02:29??StewartPlatform\StewartMVController.m

?????文件?????135316??2019-04-12?08:42??StewartPlatform\StewartPlatform.mdl

?????文件??????86826??2002-08-30?02:31??StewartPlatform\StewartPlatform.mdl.r13

?????文件??????23037??2002-11-12?02:17??StewartPlatform\StewartPlatform.txt

?????文件??????44344??2019-01-11?16:16??StewartPlatform\StewartPlatform.zip

?????文件??????25576??2002-08-30?02:45??StewartPlatform\StewartPlatformEquilibrium.mdl

?????文件???????3864??2019-04-09?15:35??StewartPlatform\StewartPlatformHinf.mat

?????文件??????38431??2019-01-18?13:36??StewartPlatform\StewartPlatformLegEquilibrium.mdl

?????文件??????14549??2002-08-29?21:52??StewartPlatform\StewartPlatformLegEquilibrium.mdl.r13

?????文件??????33205??2002-08-30?01:38??StewartPlatform\StewartPlatformPlant.mdl

?????文件???????3779??2019-01-18?15:43??StewartPlatform\StewartPlatformSetup.m

?????文件??????39023??2019-04-10?16:23??StewartPlatform\stewart_demo.slx

?????目錄??????????0??2019-04-12?09:03??StewartPlatform

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

???????????????496850????????????????????18