Unable to get expected results from ANFIS model.

I have files (data101 to data501) with data points 59400 in each file. I have to train the anfis using this data files. I have tried this using below code –

load data101.mat;
numMFs = [9 8 7];
mfType = 'gbellmf';
in_fis101 = genfis1(data101,numMFs,mfType);
fprintf('-->%s\n','Start training first ANFIS network. It may take some time depending on your computer system.')
anfis21 = anfis(data101,in_fis101,51,[0 0 0 0]); % train first ANFIS network
save anfis21;
clear all;

load data201.mat;
numMFs = [9 8 7];
mfType = 'gbellmf';
in_fis201 = genfis1(data201,numMFs,mfType);
fprintf('-->%s\n','Start training second ANFIS network. It may take one minute depending on your computer system.')
anfis22 = anfis(data201,in_fis201,51,[0 0 0 0]); % train second ANFIS network
save anfis22;
clear all;

load data301.mat;
numMFs = [9 8 7];
mfType = 'gbellmf';
in_fis301 = genfis1(data301,numMFs,mfType);
fprintf('-->%s\n','Start training Third ANFIS network. It may take one minute depending on your computer system.')
anfis23 = anfis(data301,in_fis301,51,[0 0 0 0]);
save anfis23;
clear all;

load data401.mat;
numMFs = [9 8 7];
mfType = 'gbellmf';
in_fis401 = genfis1(data401,numMFs,mfType);
fprintf('-->%s\n','Start training fourth ANFIS network. It may take one minute depending on your computer system.')
anfis24 = anfis(data401,in_fis401,51,[0 0 0 0]); % train first ANFIS network
save anfis24;
clear all;

load data501.mat;
numMFs = [9 8 7];
mfType = 'gbellmf';
in_fis501 = genfis1(data501,numMFs,mfType);
fprintf('-->%s\n','Start training fifth ANFIS network. It may take one minute depending on your computer system.')
anfis25 = anfis(data501,in_fis501,51,[0 0 0 0]); % train first ANFIS network
save anfis25;
clear all;

Please find below the path where I have put the files - http://www.mediafire.com/?5cxhw85gg2xdjzn

So after this I used evalfis to get the results from the above stored anfis modules using below program –

    X= input('x-coordinate=');
            Y= input('y-coordinate=');
                Z= input('z-coordinate='); 

    XYZ = [X Y Z];

    load anfis21.mat;
    load anfis22.mat;
    load anfis23.mat;
    load anfis24.mat;
    load anfis25.mat;

    THETA1P = evalfis(XYZ, anfis21); % theta1 predicted by anfis1
    THETA2P = evalfis(XYZ, anfis22); % theta2 predicted by anfis2
    THETA3P = evalfis(XYZ, anfis23); % theta3 predicted by anfis3
    THETA4P = evalfis(XYZ, anfis24);
    THETA5P = evalfis(XYZ, anfis25);

    disp(['Theta1 = ' num2str(THETA1P)]);
    disp(['Theta2 = ' num2str(THETA2P)]);
    disp(['Theta3 = ' num2str(THETA3P)]);
    disp(['Theta4 = ' num2str(THETA4P)]);
    disp(['Theta5 = ' num2str(THETA5P)]);

E.g. When I gave below values

x-coordinate=-51.56158581

y-coordinate=-203.2673851

z-coordinate=-235.21962

I got below results

Theta1 = 0.63387

Theta2 = -2.2428

Theta3 = 0.28727

Theta4 = 0.58467

Theta5 = -0.12822

But when I put these values back to below program –

a2 = 431.8;
a3 = -20.32;
d2 = 149.09;
d4 = 433.07;
d6 = 56.25;

t1 = 0.63387
t2 = -2.2428
t3 = 0.28727
t4 = 0.58467
t5 = -0.12822
%t1 = 0.94801;
%t2 = -1.9518;
%t3 = 0.97338;
%t4 = 0.54344;
%t5 = -0.056813;

c1 = cos(t1); 
s1 = sin(t1);

c2 = cos(t2);
s2 = sin(t2);

c3 = cos(t2+t3);
s3 = sin(t2+t3);

s4 = sin(t4);
c4 = cos(t4);

s5 = sin(t5);
c5 = cos(t5);

X= c1*(d6*((c3*c4*s5)+(s3*c5))+(s3*d4)+(a3*c3)+(a2*c2))-s1*((d6*s4*s5)+d2);
Y= s1*(d6*((c3*c4*s5)+(s3*c5))+(s3*d4)+(a3*c3)+(a2*c2))+c1*((d6*s4*s5)+d2);
Z= d6*((c3*c5)-(s3*c4*s5))+(c3*d4)-(a3*s3)-(a2*s2);

disp(['X = ' num2str(X)]);
disp(['Y = ' num2str(Y)]);
disp(['Z = ' num2str(Z)]);

I got below results –

X = -659.6894

Y = -304.8028

Z = 130.0477

Which is not correct, Can anyone tell me what is going wrong here? What should be the anfis parameter so that I will get correct answers.

[Prashant Chopade]

Any help???

[Win co]

Hi, Could you describe your problem : what is the purpose of your code? What do the variables (a*,b*,c*,t*,s*,c*) represent? Regards Winn