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

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

Answer 1

[Walter Roberson]

    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.

[Farshid R]

According to the functions defined above, I want to get and update the output in each step and use the previous moments or the same previous steps for estimation or the same xhad and express your position to your neighbors.

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
%%%%

[Walter Roberson]

I guess that perhaps

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

should be

   x1k = exocstrstateFcnCT1(x1k,u1k);

but this is a guess.

[Farshid R]

This gives the error

Not enough input arguments.

Error in exocstrstateFcnCT1 (line 5)

for i=1:p

Error in mpc1 (line 81)

x1k =exocstrstateFcnCT1(x1k,u1k);

[Farshid R]

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

[Walter Roberson]

   x1k = exocstrstateFcnCT1(x1k,u1k, size(x1k, 1));

[Farshid R]

Thank you thank you so much

Excuse me, I also have constraints for this function. How should I express constraints?

[Walter Roberson]

https://www.mathworks.com/help/mpc/ug/specify-constraints-for-nonlinear-mpc.html

[Farshid R]

Should the value of " p " be written in the constraints section or should it be defined separately and only the formulas written?

[Walter Roberson]

Sorry, I have never worked with that part of MATLAB.

[Farshid R]

No, no, you do not have to say sorry

You helped me a lot, thank you