Why my nonlinear constraints are not satisfied?

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Orcan Maktal
Orcan Maktal 2021-5-20
编辑： Orcan Maktal 2021-5-20
I have a problem with my optimization. I am creating a trajectory between 2 stationary points. I have 4 free parameters (K1,K2,K3,K4) to define the motion inbetween these 2 points. I applied constraints on the speed and acceleration of the trajectory. The motion definition is done by 2 nested functions. gamma is the first function that takes 4 free parameters and it maps between [0,1]. u is the main function that connects these 2 points. So in the end, the trajectory is defined as :
x=x0+(xf-x0)*u
To see the bounds of 4 free parameters, I run the code with random free parameter set inbetween -10e6*ones(1,4) and 10e6*ones(1,4). However the problem is fmincon says it solves the problem but nonlinear constraints are disregarded. I also tried with genetic algorithm but that did not help either. Could you help me what do I do wrong about this? I provided the code. Thanks for help.

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