Input arguments to function include colon operator. To input the colon character, use ':' instead

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Farshid R 2020-10-27

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/628338-input-arguments-to-function-include-colon-operator-to-input-the-colon-character-use-instead

评论： Farshid R 2020-10-30

在 MATLAB Online 中打开

Hello

I have four problems

The first is that I wrote these codes based on HATL MATLAB to predict the prediction. I do not know whether I wrote the correct functions or not.The second thing I wrote makes this mistake?

#####

I used this for coding

https://www.mathworks.com/help/mpc/ref/nlmpc.html

%%%%%%%%%%%%%%%%

Nonlinear system code is discrete:

%%
function x1=exocstrstateFcnCT1(x1,u1,p)
for i=1:p
   x1=x1(i,:);
    u1(1)=u1(i,1);
    u1(2)=u1(i,1);
 x1(i+1,:)=[0.9*cos(x1(3)) 0;0.9*sin(x1(3)) 0;0 0.9]*[u1(1);u1(2)]+[x1(1);x1(2);x1(3)];
end
end
%% CostFunction
function J1=myCostFunction1(x1,x1d,u1,x4had,data,x2had)
for i=1:p
u1=u1(i,:);
x1=x1(i,:);
x2had=x2had(2:p+1,:);
x4had=x4had(2:p+1,:);
J1=0.1*norm(x1-x1d,2)+0.2*norm(u1,2)+ 0.1*norm(x4had-x1-x14d,2)+0.1.*norm(x2had-x1-x12d,2);
end
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
nx=3;
ny=3;
nu=2;
nlobj1 = nlmpc(nx,ny,nu);
Ts = 0.1;
nlobj1.Ts = Ts;
p=6;
c=3;
nlobj1.PredictionHorizon = p;
nlobj1.ControlHorizon = c;
x1(1,:) = [0.5;0.6;0.7];
x1had=x1(1,:);
u1(:,1) = 0.2*[1;1];
validateFcns(nlobj1,x1,u1,[],{Ts});
%%%%%
nloptions1 = nlmpcmoveopt;
nloptions1.Parameters = {Ts};
%%
xHistory1 = x1(1,:);
Duration = 20;
lastMV1 = u1';
uHistory1 = lastMV1;
%%
for k = 1:(Duration/Ts)
    t = linspace(k*Ts, (k+p-1)*Ts,p);
    % Compute the control moves with reference previewing.
    x1k = xHistory1(k,:);
    [u1k,nloptions1,info] = nlmpcmove(nlobj1,x1k,lastMV1,[],[],nloptions1);
    uHistory1(k+1,:) = u1k';
    lastMV1 = u1k;
    % Update states.
    x1k = @(u1k,x1k) exocstrstateFcnCT1(x1k,u1k);
    y1 = x1k;
    xHistory1(k+1,:) = y1(end,:);
  
end
%%%%
 fprintf('   k  |    u1(1)    u1(2)   x1(1)     x1(2)    x1(3)    Time\n');
    fprintf('----------------------------------------------------------\n');
%% This is the estimation part
for l=2:p+1
    
   if l<=p-1 
x1had(l,:)=xHistory1(l-1,:);
   else
       x1had(p,:)=xHistory1(p+1,:);
   end
end

%%%%

Third, I want several robots to move together, and for the current position of the neighboring robot, the previous mode is used as an estimate for the neighboring robot.

Its code is as follows

Fourth, I want to show this on the plot, for example, they are connected in a rectangular shape, go from one point to another.

The nonlinear system is discrete

%%%%

It makes an error

Input arguments to function include colon operator. To input the colon character, use ':' instead.

Error in mpc1 (line 83)

xHistory1(k+1,:) = y1(end,:);

please guide me

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回答（1 个）

Walter Roberson 2020-10-27

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/628338-input-arguments-to-function-include-colon-operator-to-input-the-colon-character-use-instead#answer_526268

在 MATLAB Online 中打开

x1k = @(u1k,x1k) exocstrstateFcnCT1(x1k,u1k);

That is a function handle

y1 = x1k;

That copies the function handle but does not invoke the function

xHistory1(k+1,:) = y1(end,:);

That tries to treat the function handle as an array.

It looks to me as if y1 should be assigned the result of invoking the function handle, but it is not obvious to me what the arguments should be to the invocation.