Error using horzcat Dimensions of arrays being concatenated are not consistent.

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Harleen Kaur
Harleen Kaur 2019-5-10
评论： Harleen Kaur 2019-5-10
There is an error in the line with bold letters:
clear
Ad=[0.941 0.192; -0.576 0.903];
Bd=[.020; 0.192]; Gd=[.020; 0.192]; Sw=0.5;
Dx=[1 0;0 1;0 0]; Du=[0;0;1];
zmin=[-0.4; -1e6; -3]; zmax=[0.4; 1e6; 3];
nx=2;nu=1;nw=1;nz=3;
Q=[1 0;0 1]; R=0.5; S=[0; 0];
P=dare(Ad,Bd,Q,R);
L=inv(R+Bd'*P*Bd)*Bd'*P*Ad; Qf=P;
mpc=1; % set to zero for unconstrained LQOC
delay=0; % set to zero no delay
if(mpc == 1)
N=10; %horizon size
Mu=zeros(nu*N);Mx=zeros(nx*N);Mux=zeros(nu*N,nx*N);
for i=1:N-1
Mu(1+(i-1)*nu:nu+(i-1)*nu,1+(i-1)*nu:nu+(i-1)*nu)=R;
Mx(1+(i-1)*nx:nx+(i-1)*nx,1+(i-1)*nx:nx+(i-1)*nx)=Q;
Mux(1+i*nu:nu+i*nu,1+(i-1)*nx:nx+(i-1)*nx)=S';
end
Mu(1+(N-1)*nu:nu+(N-1)*nu,1+(N-1)*nu:nu+(N-1)*nu)=R;
Mx(1+(N-1)*nx:nx+(N-1)*nx,1+(N-1)*nx:nx+(N-1)*nx)=Qf;
M=[Mu Mux;Mux' Mx]; m=zeros((nu+nx)*N,1);
% Add Slack variables
M=[M zeros(N*(nx+nu),nz);zeros(nz,N*(nx+nu)) 0.0*eye(nz)]
m=[m; 1e6*[1; 1; 10]];
A0u=zeros(nx*N,nu*N);A0x=zeros(nx*N,nx*N);
A0u(1:nx,1:nu)=Bd; A0x(1:nx,1:nx)=-eye(nx);
for i=2:N
A0u(1+(i-1)*nx:nx+(i-1)*nx,1+(i-1)*nu:nu+(i-1)*nu)=Bd;
A0x(1+(i-1)*nx:nx+(i-1)*nx,1+(i-1)*nx:nx+(i-1)*nx)=-eye(nx);
A0x(1+(i-1)*nx:nx+(i-1)*nx,1+(i-2)*nx:nx+(i-2)*nx)=Ad;
end
A0=[A0u A0x]; b0=zeros(nx*N,1);
A0=[A0 zeros(nx*N,nz)]; % Add Slack variables
A1u=zeros(nz*N,nu*N); A1x=zeros(nz*N,nx*N); A1u(1:nz,1:nu)=Du;
b1max=zeros(nz*N,1); b1min=zeros(nz*N,1);
A1slack=zeros(nz*N,nz); % Add Slack variables
A1slack(1:nz,1:nz)=-eye(nz); % Add Slack variables
for i=2:N
A1u(1+(i-1)*nz:nz+(i-1)*nz,1+(i-1)*nu:nu+(i-1)*nu)=Du;
A1x(1+(i-1)*nz:nz+(i-1)*nz,1+(i-2)*nx:nx+(i-2)*nx)=Dx;
A1slack(1+(i-1)*nz:nz+(i-1)*nz,1:nz)=-eye(nz);
b1max(1+(i-1)*nz:nz+(i-1)*nz,1)=zmax;
b1min(1+(i-1)*nz:nz+(i-1)*nz,1)=-zmin;
end
A1=[A1u A1x;-A1u -A1x];
% Add Slack variables
A1=[A1 [A1slack; A1slack];zeros(nz,N*(nu+nx)) -eye(nz)];
end
Error using horzcat
Dimensions of arrays being concatenated are
not consistent.
Error in Untitled10 (line 26)
M=[M zeros(N*(nx+nu),nz);zeros(nz,N*(nx+nu)) 0.0*eye(nz)];
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