Error in my MATLAB code

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Mostafa Sallam
Mostafa Sallam 2023-5-30
评论： Mostafa Sallam 2023-6-1
Ran in:
Hello,
when I try to simulate the code:
% Define the communication topology
L = [1 -1 0 0;
0 0 0 0;
0 -1 1 0;
0 0 -1 1];
% Define the coupling strengths
c = [0.1; 0.15; 0.15; 0.2];
% Define the initial conditions
x0 = [0.1 0.2;
0.25 -0.05;
0.1 -0.15;
-0.25 0.3];
% Define the state space equations
A = zeros(8,8);
B = zeros(8,4);
C = [1 0 0 0;
0 1 0 0];
for i = 1:4
% Define the state equations for agent i
A((2*i-1):(2*i), (2*i-1):(2*i)) = [1/(1+x0(i,1)^2) 1;
-c(i)*cos(x0(i,1)-x0(i,2))*exp(-(x0(i,1))^2+(x0(i,2))^4) -c(i)*sin(x0(i,1)-x0(i,2))*exp(-(x0(i,1))^2+(x0(i,2))^4)];
% Define the input equation for agent i
B((2*i-1):(2*i), i) = [0; 1];
% Define the coupling equations for agent i
for j = 1:4
if L(i,j) == 1
A((2*i-1):(2*i), (2*j-1):(2*j)) = [-1 0;
0 -1];
elseif L(i,j) == -1
A((2*i-1):(2*i), (2*j-1):(2*j)) = [1 0;
0 1];
end
end
end
% Define the time span
tspan = [0 400];
% Define the initial state vector
x0_vec = reshape(x0', [8,1]);
% Define the weighting matrices Q and R
Q = eye(8);
R = eye(4);
% Compute the optimal feedback gain matrix K using LQR control
[K,~,~] = lqr(A,B,Q,R);
% Define the reference signal
yd = @(t) sin(t);
size(A)
ans = 1×2
8 8
size(B)
ans = 1×2
8 4
size(K)
ans = 1×2
4 8
% Simulate the closed-loop system with LQR control and reference signal
[t,x] = ode45(@(t,x) (A-B*K)*x + B*yd(t), tspan, x0_vec);
Error using odearguments
@(T,X)(A-B*K)*X+B*YD(T) must return a column vector.

Error in ode45 (line 107)
odearguments(odeIsFuncHandle,odeTreatAsMFile, solver_name, ode, tspan, y0, options, varargin);
% Reshape the output vector x into a matrix
x = reshape(x, [size(x,1), 2, 4]);
% Plot the results
figure;
for i = 1:4
subplot(2,2,i);
plot(t, squeeze(x(:,1,i)), t, yd(t), 'g--');
xlim([0 400]);
title(['Agent ', num2str(i)]);
xlabel('Time');
ylabel('State');
legend('x_1', 'y_d');
end
figure;
for i = 1:4
subplot(2,2,i);
plot(t, squeeze(x(:,2,i)), t, yd(t), 'g--');
xlim([0 400]);
title(['Agent ', num2str(i)]);
xlabel('Time');
ylabel('State');
legend('x_2', 'y_d');
end
it give me the following error:
Error using odearguments (line 93)
@(T,X)(A-B*K)*X+B*YD(T) must return a column vector.
Error in ode45 (line 115)
odearguments(FcnHandlesUsed, solver_name, ode, tspan, y0, options, varargin);
Error in New_Model22 (line 59)
[t,x] = ode45(@(t,x) (A-B*K)*x + B*yd(t), tspan, x0_vec);
can anyone help me?
Thanks

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回答（1 个）

Torsten
Torsten 2023-5-30
编辑：Torsten 2023-5-30
Explicitly listing the sizes of the matrices involved (see above), I come to the conclusion that yd(t) must be a 4x1 column vector instead of a 1x1 scalar.
  3 个评论
显示 1更早的评论
Torsten
Torsten 2023-5-31
编辑：Torsten 2023-5-31
We don't know what your equations represent.
It's up to you to define yd(t) appropriately as a function that returns a 4x1 vector, e.g.
yd = @(t) sin(t)*ones(size(B,2),1)

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