为什么显示要串联的数组的维度不一致？

Question

SuSan jin el 7 de Sept. de 2023

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Enlace directo a esta pregunta

https://es.mathworks.com/matlabcentral/answers/2017986-

Comentada: Torsten el 7 de Sept. de 2023

close all
clear all
clc
% some global 
global kappa1;
global kappa2;
global kappa3;
global R11;
global R22;
global R12;
global R21;
global R13;
global R23;
global R33;
global R32;
global R31;
global Q11;
global Q22;
global Q33;
global d1;
global d2;
global d3;
global i;
i=1;
d1=2;
d2=2;
d3=2;
c1=1;
c2=0;
c3=0;
%definitions of R
R11=0.1;
R12=0.01;
R13=0.01;
R31=0.01;
R22=0.1;
R23=0.01;
R33=0.1;
R32=0.01;
R21=0.01;
%definitions of Q
Q11=200*eye(2);
Q22=200*eye(2);
Q33=200*eye(2);
%initial conditions
x0=[1 1 1 1 1 1  rand(1,3) rand(1,3) rand(1,3)  [1 1] [0.5 -0.5] [1.5 -1.5] [-1 -1] [2 -2] [0.5 -0.5] [1.5 -1.5] zeros(1,3)];
%call ode
  options = odeset('OutputFcn',@odeplot);
  [t,x]= ode23(@dynamicsfault,[0 30],x0,options);
ans = 1×2
     2     1
ans = 1×2
     2     1
ans = 1×2
     2     1
ans = 1×2
     3     1
ans = 1×2
     3     1
ans = 1×2
     3     1
ans = 1×2
     2     1
ans = 1×2
     2     1
ans = 1×2
     2     1
ans = 1×2
     2     1
ans = 1×2
     2     2
ans = 1×2
     2     2
ans = 1×2
     2     2
ans = 1×2
     1     1
ans = 1×2
     1     1
ans = 1×2
     1     1
Error using vertcat
Dimensions of arrays being concatenated are not consistent.

Error in solution>dynamicsfault (line 297)
xout=[(d1+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f));...

Error in odearguments (line 92)
f0 = ode(t0,y0,args{:});   % ODE15I sets args{1} to yp0.

Error in ode23 (line 106)
    odearguments(odeIsFuncHandle, odeTreatAsMFile, solver_name, ode, tspan, y0, options, varargin);
  
  
  %plots
  
%  states
figure (1);
subplot(3,1,1)
plot(t,x(:,16:17));
hold on
plot(t,x(:,22),'r');
plot(t,x(:,23),'m');
legend ('$x_{11}$','$x_{12}$','$x_{01}$','$x_{02}$','interpreter','latex');
xlabel('Time (s)');
subplot(3,1,2)
plot(t,x(:,18:19));
hold on
plot(t,x(:,22),'r');
plot(t,x(:,23),'m');
legend ('$x_{21}$','$x_{22}$','$x_{01}$','$x_{02}$','interpreter','latex');
xlabel('Time (s)');
subplot(3,1,3)
plot(t,x(:,20:21));
hold on
plot(t,x(:,22),'r');
plot(t,x(:,23),'m');
legend ('$x_{31}$','$x_{32}$','$x_{01}$','$x_{02}$','interpreter','latex');
xlabel('Time (s)');
figure (2);
subplot(3,1,1)
plot(t,x(:,7:9));
title ('Critic 1');
xlabel('Time(s)')
% figure (3);
subplot(3,1,2)
plot(t,x(:,10:12));
title ('Critic 2');
xlabel('Time(s)')
% figure (4);
subplot(3,1,3)
plot(t,x(:,13:15));
title ('Critic 3');
xlabel('Time(s)')
figure (5);
plot3(kappa1,kappa2,kappa3);
title ('Controls');
figure (6);
plot(kappa1,'r');
hold on;
plot(kappa2,'b');
hold on;
plot(kappa3,'y');
legend ('u1', 'u2','u3');
figure (7)
grid on
plot(t,x(:,1:2));
hold on;
plot(t,x(:,3:4));
hold on;
plot(t,x(:,5:6));
title ('the agent error dynamic','interpreter','latex');
xlabel('Time(s)')
legend ('$\delta_{11}$', '$\delta_{12}$','$\delta_{21}$','$\delta_{22}$','$\delta_{31}$','$\delta_{32}$','interpreter','latex');
function xout=dynamicsfault(t,x)
%global variables
global kappa1;
global kappa2;
global kappa3;
global R11;
global R22;
global R12;
global R21;
global R13;
global R23;
global R33;
global R32;
global R31;
global Q11;
global Q22;
global Q33;
global d1;
global d2;
global d3;
global L1;
global L2;
global c1;
global c2;
global c3;
global i;
%constants 
a1=1;
a2=1;
a3=1;
a4=1;
a5=1;
a6=1;
d1=2;
d2=2;
d3=2;
c1=1;
c2=0;
c3=0;
L1=300;L2=100;
delta1=[x(1) x(2)];
delta2=[x(3) x(4)];
delta3=[x(5) x(6)];
W1=[x(7) x(8) x(9)]';
W2=[x(10) x(11) x(12)]';
W3=[x(13) x(14) x(15)]';
x1=[x(16) x(17)];
x2=[x(18) x(19)];
x3=[x(20) x(21)];
x0=[x(22) x(23)];
x1f=[x(24) x(25)];
x2f=[x(26) x(27)];
x3f=[x(28) x(29)];
u1f=x(30);
u2f=x(31);
u3f=x(32);
%定义非线性动力学
f1=[x(17);-0.5*x(16)-x(17)+x(16)^2*x(17)-0.25*x(17)*(cos(2*x(16))+2)^2+0.25*x(17)*sin(4*x(17)^2+2)^2];
g1=[0; cos(2*x(16))+2];
f2=[x(19);-0.5*x(18)-x(19)+x(18)^2*x(19)-0.25*x(19)*(cos(2*x(18))+2)^2+0.25*x(19)*sin(4*x(19)^2+2)^2];
g2=[0; cos(2*x(18))+2];
f3=[-x(21);-0.5*x(20)-x(21)+x(20)^2*x(21)-0.25*x(21)*(cos(2*x(20))+2)^2+0.25*x(21)*sin(4*x(21)^2+2)^2];
g3=[0; cos(2*x(20))+2];
f0=[0.5*x(22)-x(23)*cos(x(22));sin(x(22))-x(23)];
f1f=[x(25);-0.5*x(24)-x(25)+x(24)^2*x(25)-0.25*x(25)*(cos(2*x(24))+2)^2+0.25*x(25)*sin(4*x(25)^2+2)^2];
g1f=[0; cos(2*x(24))+2];
f2f=[x(27);-0.5*x(26)-x(27)+x(26)^2*x(27)-0.25*x(27)*(cos(2*x(26))+2)^2+0.25*x(27)*sin(4*x(27)^2+2)^2];
g2f=[0; cos(2*x(26))+2];
f3f=[x(29);-0.5*x(28)-x(29)+x(28)^2*x(29)-0.25*x(29)*(cos(2*x(28))+2)^2+0.25*x(29)*sin(4*x(29)^2+2)^2];
g3f=[0; cos(2*x(28))+2];
phix1=[x(1)^2 x(1)*x(2) x(2)^2]';
dphix1=[2*x(1) 0; x(2) x(1); 0 2*x(2)];
phix2=[x(3)^2 x(3)*x(4) x(4)^2]';
dphix2=[x(3) 0; x(4) x(3); 0 2*x(4)];
phix3=[x(5)^2 x(5)*x(6) x(6)^2]';
dphix3=[2*x(5) 0; x(6) x(5); 0 2*x(6)];
u1=-0.5*(d1+c1)*inv(R11)*g1'*dphix1'*W1;
u2=-0.5*(d2+c2)*inv(R22)*g2'*dphix2'*W2;
u3=-0.5*(d3+c3)*inv(R33)*g3'*dphix3'*W3;
s1=dphix1*((d1+c1)*(f1-f0+g1*(u1)+(d2+c2)*(f2-f0+g2*u2)+(d3+c3)*(f3-f0+g3*u3)));
s2=dphix2*((d1+c1)*(f1-f0+g1*(u1)+(d2+c2)*(f2-f0+g2*u2)+(d3+c3)*(f3-f0+g3*u3)));
s3=dphix3*((d1+c1)*(f1-f0+g1*(u1)+(d2+c2)*(f2-f0+g2*u2)+(d3+c3)*(f3-f0+g3*u3)));
Y1=(-delta1*Q11*delta1'-u1*R11*u1'-u3*R13*u3'-u2*R12*u2');
Y2=(-delta2*Q22*delta2'-u2*R22*u2'-u1*R21*u1'-u3*R13*u3);
Y3=(-delta3*Q33*delta3'-u3*R33*u3'-u1*R31*u1'-u2*R32*u2');
e1=W1'*s1-Y1;
e2=W2'*s2-Y2;       
e3=W3'*s3-Y3;
Win1=-a1*(s1./(s1'*s1+1)^2)*e1';
Win2=-a2*(s2./(s2'*s2+1)^2)*e2';
Win3=-a3*(s3./(s3'*s3+1)^2)*e3';
% sbar1=(s1/(s1'*s1+1));
% sbar2=(s2/(s2'*s2+1));
% sbar3=(s3/(s3'*s3+1));
% 
% D1=dphix1*B1*inv(R11)*B1'*dphix1';
% D2=dphix2*B2*inv(R22)*B2'*dphix2';
% D3=dphix3*B3*inv(R33)*B3'*dphix3';
% 
%  F1=5*eye(length(W4));
%   F2=5*eye(length(W5));
%    F3=5*eye(length(W6));
% 
% Win4=a4*(F1*W1-F1*W4)-0.25*D1*a4*W4*(s1./(s1'*s1+1)^2)'*W1-0.25*a4*dphix3*B3*inv(R33)*R13*inv(R33)*B3'*dphix3'*W4*(s1./(s1'*s1+1)^2)'*W3;
% Win5=a5*(F2*W2-F2*W5)-0.25*D2*a5*W5*(s2./(s2'*s2+1)^2)'*W2-0.25*a5*dphix1*inv(R11)*R21*inv(R11)*dphix1'*W5*(s2./(s2'*s2+1)^2)'*W1;
% Win6=a6*(F3*W3-F3*W6)-0.25*D3*a6*W6*(s3./(s3'*s3+1)^2)'*W3-0.25*a6*dphix1*inv(R11)*R31*inv(R11)*dphix1'*W6*(s3./(s3'*s3+1)^2)'*W1-0.25*a6*dphix2*inv(R22)*R32*inv(R22)*dphix2'*W6*(s3./(s3'*s3+1)^2)'*W2;
if 10<=t&&t<=20
    u1f=cos(5*t/(2*pi))+sin(t);
  else 
   u1f=0; 
  end
  if 20<=t&&t<=25
    u3f=10*sin(t/(2*pi))-cos(2*t);
     else 
   u3f=0; 
   end
if t<=30
u2f=0;
unew1=((u1)+0*exp(-0.00*t)*(sin(t)^2*cos(t)+sin(2*t)^2*cos(0.1*t)+sin(-1.2*t)^2*cos(0.5*t)+sin(t)^5));
unew2=((u2)+0*exp(-0.00*t)*(sin(t)^2*cos(t)+sin(2*t)^2*cos(0.1*t)+sin(-1.2*t)^2*cos(0.5*t)+sin(t)^5));
unew3=((u3)+0*exp(-0.00*t)*(sin(t)^2*cos(t)+sin(2*t)^2*cos(0.1*t)+sin(-1.2*t)^2*cos(0.5*t)+sin(t)^5));
else
    unew1=u1;
    unew2=u2;
    unew3=u3;
end
kappa1(i)=u1;
kappa2(i)=u2;
kappa3(i)=u3;
i=i+1;
size((d1+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f)))
size((d2+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f)))
size((d3+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f)))
size(Win1)
size(Win2)
size(Win3)
size(f1+g1*unew1-g1*u1f)
size(f2+g2*unew2-g2*u2f)
size(f3+g3*unew3-g3*u3f)
size(f0)
size(f1f+g1*(unew1-u1f)+L1*(x1-x1f))
size(f2f+g1*(unew2-u2f)+L1*(x2-x2f))
size(f3f+g1*(unew3-u3f)+L1*(x3-x3f))
size(-L2*g1f'*(x1-x1f)')
size(-L2*g2f'*(x3-x3f)')
size(-L2*g2f'*(x3-x3f)')
xout=[(d1+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f));...
    (d2+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f));...
    (d3+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f));...
    Win1;Win2; Win3;...
    f1+g1*unew1-g1*u1f;f2+g2*unew2-g2*u2f;f3+g3*unew3-g3*u3f;f0;...
   f1f+g1*(unew1-u1f)+L1*(x1-x1f);f2f+g1*(unew2-u2f)+L1*(x2-x2f);f3f+g1*(unew3-u3f)+L1*(x3-x3f);...
   -L2*g1f'*(x1-x1f)';-L2*g2f'*(x3-x3f)';-L2*g2f'*(x3-x3f)'];
end

错误使用 vertcat

要串联的数组的维度不一致。

出错 dynamicsfault (line 148)

xout=[(d1+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f));...

出错 odearguments (line 90)

f0 = feval(ode,t0,y0,args{:}); % ODE15I sets args{1} to yp0.

出错 ode23 (line 114)

odearguments(FcnHandlesUsed, solver_name, ode, tspan, y0, options, varargin);

出错 fault9_7 (line 65)

[t,x]= ode23('dynamicsfault',[0 30],x0,options);

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Answer 1

Torsten el 7 de Sept. de 2023

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Enlace directo a esta respuesta

https://es.mathworks.com/matlabcentral/answers/2017986-#answer_1304291

Abrir en MATLAB Online

As you can see in your code above,

f1f+g1*(unew1-u1f)+L1*(x1-x1f)
f2f+g1*(unew2-u2f)+L1*(x2-x2f)
f3f+g1*(unew3-u3f)+L1*(x3-x3f)

are 2x2 matrices. To be able to form xout, they have to be column vectors.

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SuSan jin el 7 de Sept. de 2023

谢谢，看到了，根据指出来的进行了修改，想问下这个矩阵维数ans是怎么调试出来的，只会跑程序，像这种单独看哪一个不合适该怎么调用

ans = 1×2

2 1

ans = 1×2

2 1

ans = 1×2

2 1

ans = 1×2

3 1

ans = 1×2

3 1

ans = 1×2

3 1

ans = 1×2

2 1

ans = 1×2

2 1

ans = 1×2

2 1

ans = 1×2

2 1

ans = 1×2

2 2

ans = 1×2

2 2

ans = 1×2

2 2

ans = 1×2

1 1

ans = 1×2

1 1

ans = 1×2

1 1

Error using vertcat

Dimensions of arrays being concatenated are not consistent.

Error in solution>dynamicsfault (line 297)

xout=[(d1+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f));...

Error in odearguments (line 92)

f0 = ode(t0,y0,args{:}); % ODE15I sets args{1} to yp0.

Error in ode23 (line 106)

odearguments(odeIsFuncHandle, odeTreatAsMFile, solver_name, ode, tspan, y0, options, varargin);

Torsten el 7 de Sept. de 2023

Abrir en MATLAB Online

You are interested in how to debug a code ? As you can see, I inserted the commands

size((d1+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f)))
size((d2+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f)))
size((d3+c1)*(f1-f0+g1*(unew1-u1f))+(d2+c2)*(f2-f0+g2*(unew2-u2f))+(d3+c3)*(f3-f0+g3*(unew3-u3f)))
size(Win1)
size(Win2)
size(Win3)
size(f1+g1*unew1-g1*u1f)
size(f2+g2*unew2-g2*u2f)
size(f3+g3*unew3-g3*u3f)
size(f0)
size(f1f+g1*(unew1-u1f)+L1*(x1-x1f))
size(f2f+g1*(unew2-u2f)+L1*(x2-x2f))
size(f3f+g1*(unew3-u3f)+L1*(x3-x3f))
size(-L2*g1f'*(x1-x1f)')
size(-L2*g2f'*(x3-x3f)')
size(-L2*g2f'*(x3-x3f)')

in your code because it was obvious that one or several of them couldn't be column vectors.

For the general procedure of debugging this site may help:

https://uk.mathworks.com/help/matlab/matlab_prog/debugging-process-and-features.html

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为什么显示要串联的数组的维度不一致？

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为什么显示要串联的数组的维度不一致？

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