How to solve the error "Error using sqpInterface Nonlinear constraint function is undefined at initial point. Fmincon cannot continue." Error occurred when calling NLP solver
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Kamal
2024 年 1 月 23 日
コメント済み: Emmanouil Tzorakoleftherakis
2024 年 2 月 28 日
Please I need help to resolve the "Error using sqpInterface Nonlinear constraint function is undefined at initial point. Fmincon cannot continue." Error occurred when calling NLP solver"
I follow the example "Swing-up control of a pendulum using nonlinear model predictive control" to design nonlinear model predictive for a system. I followed the example and adapted it to my system. I created all the files as given in the example. However, I am getting the error above each time i run the code. Nontheless, the exampe runs fine. I am wondering what could be causing the problem.
Here is the code:
nx=13;
ny=1;
nu=1;
nlobj=nlmpc(nx,ny,nu);
Ts=0.1;
nlobj.Ts=Ts;
nlobj.PredictionHorizon=10;
nlobj.ControlHorizon=5;
nlobj.Model.StateFcn="Holos_microreactorDT0";
nlobj.Model.IsContinuousTime = false;
nlobj.Model.NumberOfParameters = 1;
nlobj.Model.OutputFcn = 'Holos_microreactorOutputFcn';
nlobj.Jacobian.OutputFcn = @(x,u,Ts) [1 0 0 0 0 0 0 0 0 0 0 0 0];
nlobj.Weights.OutputVariables = 3;
nlobj.Weights.ManipulatedVariablesRate = 0.1;
nlobj.OV.Min = -10;
nlobj.OV.Max = 150;
nlobj.MV.Min = -0.145;
nlobj.MV.Max = 0.145;
x0 = [0.6;0.1;0.1;0.1;0.1;0.1;0;0;0;0;0;0;0];
u0 = 0.1;
validateFcns(nlobj,x0,u0,[],{Ts});
EKF = extendedKalmanFilter(@Holos_microreactorStateFcn, @Holos_microreactorMeasurementFcn);
x = [1;0;0;0;0;0;0;0;0;0;0;0;0];
y = x(1);
EKF.State = x;
mv = 0;
yref = 0.8;
nloptions = nlmpcmoveopt;
nloptions.Parameters = {Ts};
Duration = 20;
hbar = waitbar(0,'Simulation Progress');
xHistory = x;
for ct = 1:(20/Ts)
% Set references
%if ct*Ts<10
yref;
%else
%yref = yref2;
%end
% Correct previous prediction using current measurement.
xk = correct(EKF, y);
% Compute optimal control moves.
%z=[0 0 0 0 0 0 0 0 0 0 0 0 0 ]'
[mv,nloptions,info] = nlmpcmove(nlobj,xk,mv,yref,[],nloptions);
% Predict prediction model states for the next iteration.
predict(EKF, [mv; Ts]);
% Implement first optimal control move and update plant states.
x = Holos_microreactorDT0(x,mv,Ts);
% Generate sensor data with some white noise.
y = x(1) + randn(1)*0.01;
% Save plant states for display.
xHistory = [xHistory x]; %#ok<*AGROW>
waitbar(ct*Ts/20,hbar);
end
close(hbar)
My system has 13 states, single output and single input as given above.
I would appreciate your help, thank you
0 件のコメント
採用された回答
Emmanouil Tzorakoleftherakis
2024 年 1 月 24 日
The dynamics/state function are turned into constraints internally when creating a NLP for fmincon. You don't provide all the functions required to run the code so I am not 100% sure but I would guess the error comes from the state function itself. Maybe put a break point and check the output of this function for the specific (x,u) pair that creates the problem.
11 件のコメント
Emmanouil Tzorakoleftherakis
2024 年 2 月 28 日
Np. Can you please post a separate question for this? Otherwise it will get lost in this thread.
Thanks!
その他の回答 (1 件)
Torsten
2024 年 1 月 23 日
Before calling "fmincon", call the constraint function with your initial vector. My guess is that it returns NaN or Inf for some equality/inequality constraints.
3 件のコメント
Torsten
2024 年 1 月 23 日
編集済み: Torsten
2024 年 1 月 23 日
It seems your problem is internally transformed and handed to "fmincon". I don't know how to find the reason for failure if the objective and constraint functions that were internally generated cannot be made accessible from your code. Maybe it's possible, but I have no experience with the MPC Toolbox.
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