Input argument "Yd" is undefined.
in [Matlab]
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From: zainah on 4 Aug 2010 21:45 Hi, Can someone check my code, and error like below cameout when running the program. What should I do to correct it. ??? Input argument "Yd" is undefined. Error in ==> sb_inputy at 8 e1 = Yd(1) - y(1); Error in ==> y_position at 46 u=sb_inputy(t_current,y,k1,k2,k3,k4,k5,m2,Ix,Iy,Iz,l,Xd,Yd); ------------------------------------------------------------------------------------------------------ clear; ns =12;% number of states ni =4;% number of inputs % mb = 21.43; % mass of the vehicle rho = 1023.0; % fluid density l = 0.1; % distance r = 0.1; % radius b = 0.068; % thrust factor d = 3.617e-4; % drag factor Jx = 0.0857; %roll inertia of the vehicle Jy = 1.1143; % pitch inertia of the vehicle Jz = 1.1143; % yaw inertia of the vehicle Jt = 1.1941e-4; % thruster inertia % m1 = mb + 0.394*rho*pi*r^3; %total mass in the x-direction m2 = mb + 5.96*rho*pi*r^3; %total mass in the y-direction m3 = mb + 5.96*rho*pi*r^3; %total mass in the z-direction % Ix = Jx + 0; %total inertia in the x-direction Iy = Jy + 24.2648*rho*pi*r^5; %total inertia in the y-direction Iz = Jz + 24.2648*rho*pi*r^5; %total inertia in the z-direction % k1 = 0.15; k2 = 35; k3 = 35; k4 = 1.0; k5 = 2.0; % control gains (critical damping) %k1 = 0.15; k2 = 35; k3 = 35; k4 = 1.0; k5 = 3.0; % control gains (overdamped) %k1 = 0.15; k2 = 35; k3 = 35; k4 = 1.0; k5 = 1.0; % control gains (underdamped) % Xd = [2 0 0 0 0 0 0 0 0 0 0 0]'; % desired state vector Yd = [0 0 2 0 0 0 0 0 0 0 0 0]'; % desired state vector x0 = [0 0 0 0 0 0 pi/4 0 pi/4 0 pi/4 0]'; % initial state vector % omega(1) = 0.0; omega(2) = 0.0; omega(3) = 0.0; omega(4) = 0.0; %initial rotation % tf = 15; % final time for simulation delta_t = 0.01; % ƒTƒ“ƒvƒŠƒ“ƒO•? %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% j1 = 0;% j2 = 0; j3 = 0; for i=1:tf/delta_t+1 t_current = (i-1)*delta_t; % %%%%%%%%%% Nonholonomic control for all attitudes and x-position %%%%%%%%%% % measurement of state y = x0; %asal y = x0; % control inputs u=sb_inputy(t_current,y,k1,k2,k3,k4,k5,m2,Ix,Iy,Iz,l,Xd,Yd); % % solving of capital Omega % transformation matrix T T = [ b b b b; d -d d -d; b 0 -b 0; 0 b 0 -b]; % u = T * Omega2, where Omega2 = [omega1^2 omega2^2 omega3^2 omega4^2]' Omega2 = inv(T)*u; % for i1 = 1:ni omega(i1) = sqrt(Omega2(i1)); end % Capital omega = omega2 + omega4 - oemga1 - omega3 Omega = omega(2) + omega(4) - omega(1) - omega(3); % % saving of state x_1,...,x_n and inputs u_1,...,u_m z(i,1) = t_current; for j2=1:ns z(i,j2+1) = x0(j2); end % v(i,1) = t_current; % for j2=1:ni v(i,j2+1) = u(j2); % force or torque inputs v(i,j2+1+ni) = omega(j2); % for rotational inputs end % update of kinematic states tspan=[t_current i*delta_t]; [t, x]=ode45(@sb_planty, tspan, x0, [],k1,k2,k3,k4,k5,m1,m2,m3,Ix,Iy,Iz,Jt,Omega,l,Xd,Yd); %t,uvˆÈŠO‚̃pƒ‰ƒ??[ƒ^‚ðˆø?”‚É‚·‚é‚Æ‚«?@@ŠÖ?”–¼ %t,uv‚Ì‚Ý‚ðˆø?”‚É‚·‚é‚Æ‚«‚Í 'ŠÖ?”–¼'‚Å?‘‚¯‚é % n=size(t,1); %t‚Ì?s?”‚𒲂ׂé; ‚Ü‚½‚Í n=size(x,1); % x‚Ì?s?”‚𒲂ׂé % size(x,2)‚Ì‚Æ‚«‚Í—ñ?” x0=[x(n,1);x(n,2);x(n,3);x(n,4);x(n,5);x(n,6);x(n,7);x(n,8);x(n,9);x(n,10);x(n,11);x(n,12)]; % tspan‚Ì?ÅŒã‚ÌŒvŽZ’l‚ðŽŸ‚Ì?‰Šú’l‚Æ‚µ‚ÄŽ?‚Á‚Ä‚ä‚ %%%%%%%%%%% ˆê“x‚ɉð‚‚Æ‚« %%%%%%%%%%%%%%%%%%%%%%%%%% % options=odeset('RelTol',1.0e-5,'AbsTol',1.0e-5); % [t,x]=ode45('sb_plant',[0 tf],x0,options); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% end % % figure(1) plot(z(:,1),z(:,8),'-',z(:,1),z(:,10),'--',z(:,1),z(:,12),':','LineWidth',1.5) %hold on %plot(z(:,1),z(:,5),'-.',z(:,1),z(:,6),'--',z(:,1),z(:,7),':','LineWidth',1.0) %hold off % axis([0 tf -0.2 1.0]) ax1=findobj(gca,'Type','Axes','Visible','on'); set(ax1,'FontSize',18,'FontName','times') % word_1 = legend('{\phi}','{\theta}','{\psi}'); set(word_1,'FontName','Times') %grid xlabel('Time {\it t} [s]','FontSize',18,'FontName','Times') ylabel('Attitude [rad]','FontSize',18,'FontName','Times') title('Attitude {\phi}, {\theta} and {\psi}','FontSize',18,'FontName','Times') % % figure(2) plot(z(:,1),z(:,9),'-',z(:,1),z(:,11),'--',z(:,1),z(:,13),':','LineWidth',1.5) %hold on %plot(z(:,1),z(:,5),'-.',z(:,1),z(:,6),'--',z(:,1),z(:,7),':','LineWidth',1.0) %hold off % axis([0 tf -0.4 0.4]) ax1=findobj(gca,'Type','Axes','Visible','on'); set(ax1,'FontSize',18,'FontName','times') % word_1 = legend('Rate of {\phi}','Rate of {\theta}','Rate of {\psi}'); set(word_1,'FontName','Times') %grid xlabel('Time {\it t} [s]','FontSize',18,'FontName','Times') ylabel('Attitude rate [rad/s]','FontSize',18,'FontName','Times') title('Attitude rate of {\phi}, {\theta} and {\psi}','FontSize',18,'FontName','Times') %title('Attitude rate \dot{\phi}, \dot{\theta} and \dot{\psi}','FontSize',18,'FontName','Times') % % figure(3) % y position plot(z(:,1),z(:,4),'-','LineWidth',1.5) %hold on %plot(z(:,1),z(:,5),'-.',z(:,1),z(:,6),'--','LineWidth',1.5) %hold off % axis([0 tf -0.5 3]) ax1=findobj(gca,'Type','Axes','Visible','on'); set(ax1,'FontSize',18,'FontName','times') % word_1 = legend('{\it x}'); set(word_1,'FontName','Times') %grid xlabel('Time {\it t} [s]','FontSize',18,'FontName','Times') ylabel('Position {\it y} [m]','FontSize',18,'FontName','Times') title('Controlled result of position {\it y}','FontSize',18,'FontName','Times') % % figure(4)% rate y position plot(z(:,1),z(:,5),'-','LineWidth',1.5) %hold on %plot(z(:,1),z(:,5),'-.',z(:,1),z(:,6),'--','LineWidth',1.5) %hold off % axis([0 tf -0.5 2]) ax1=findobj(gca,'Type','Axes','Visible','on'); set(ax1,'FontSize',18,'FontName','times') % word_1 = legend('Rate of {\it x}'); set(word_1,'FontName','Times') %grid xlabel('Time {\it t} [s]','FontSize',18,'FontName','Times') ylabel('Position rate of {\it x} [m]','FontSize',18,'FontName','Times') title('Controlled result of position rate of {\it x}','FontSize',18,'FontName','Times') % % figure(5) plot(v(:,1),v(:,2),'-',v(:,1),v(:,3),'--',v(:,1),v(:,4),':',v(:,1),v(:,5),'-.','LineWidth',1.8); %hold on %plot(v(:,1),v(:,4),':',v(:,1),v(:,5),'-.','LineWidth',1.0); %hold off % %axis([0 tf -4 4]) tmpaxis=axis; axis([0 tf tmpaxis(3:4)]) % tmpaxis(1:2)‚ÍŒ»?Ý‚Ì?Ý’è‚©‚çŽæ‚Á‚½[xmin xmax]‚ð‚ ‚ç‚킵?Ctmpaxis(3:4)‚Í[ymin y max]‚ð‚ ‚ç‚í‚· ax1=findobj(gca,'Type','Axes','Visible','on'); set(ax1,'FontSize',18,'FontName','times') % word_2 = legend('{\it u}_1','{\it u}_2','{\it u}_3','{\it u}_4'); set(word_2,'FontName','Times') % %grid xlabel('Time {\it t} [s]','FontSize',18,'FontName','Times') ylabel('Control input {\it u}_{\it i}','FontSize',18,'FontName','Times') title('Control inputs {\it u}_1,..., {\it u}_4','FontSize',18,'FontName','Times') % % figure(6) plot(v(:,1),v(:,6),'-',v(:,1),v(:,7),'--',v(:,1),v(:,8),':',v(:,1),v(:,9),'-.','LineWidth',1.5); %hold on %plot(v(:,1),v(:,4),':',v(:,1),v(:,5),'-.','LineWidth',1.0); %hold off % %axis([0 tf -4 4]) tmpaxis=axis; axis([0 tf tmpaxis(3:4)]) % tmpaxis(1:2)‚ÍŒ»?Ý‚Ì?Ý’è‚©‚çŽæ‚Á‚½[xmin xmax]‚ð‚ ‚ç‚킵?Ctmpaxis(3:4)‚Í[ymin y max]‚ð‚ ‚ç‚í‚· ax1=findobj(gca,'Type','Axes','Visible','on'); set(ax1,'FontSize',18,'FontName','times') % word_2 = legend('{\omega}_1','{\omega}_2','{\omega}_3','{\omega}_4'); set(word_2,'FontName','Times') % %grid xlabel('Time {\it t} [s]','FontSize',18,'FontName','Times') ylabel('Control input {\omega}_{\it i} [rad/s]','FontSize',18,'FontName','Times') title('Control inputs in rotation {\omega}_1,..., {\omega}_4','FontSize',18,'FontName','Times') function actual_u=sb_inputy(t,x,y,k1,k2,k3,k4,k5,m2,Ix,Iy,Iz,l,Xd,Yd) % u1 = [m1*hat_u1]/[cos(x9)*cos(x11)], % where hat_u1 = -k4*e1 - k5*e2 % in which ei = yi^d - yi % e1 = Yd(1) - y(1); e2 = Yd(2) - y(2); hat_u1 = k4*e1 + k5*e2; %hat_u1 = -k4*e1 - k5*e2; % u(1) = (m2*hat_u1)/(cos(x(9))*sin(x(11))); % u(2) = -Ix*(x(7) - Xd(7)) - k1*x(8); u(3) = -Iy*(x(9) - Xd(9))/l - k2*x(10); u(4) = -Iz*(x(11) - Xd(11))/l - k3*x(12); % % actual_u = [u(1); u(2); u(3); u(4)]; function[xdot]=sb_planty(t,x,y,k1,k2,k3,k4,k5,m1,m2,m3,Ix,Iy,Iz,Jt,Omega,l,Xd,Yd) % x(1)= x, x(2) = dot x, x(3) = y, x(4) = dot y, x(5) = z, x(6) = dot z, % x(7) = phi, x(8) = dot phi, x(9) = theta, x(10) = dot theta, x(11) = psi, x(12) = dot psi theta = x(9); psi = x(11); % u=sb_inputy(t,x,y,k1,k2,k3,k4,k5,m2,Ix,Iy,Iz,l,Xd,Yd); % % f_xu = [x(2); cos(theta)*cos(psi)*u(1)/m1; x(4); cos(theta)*sin(psi)*u(1)/m2; x(6); -sin(theta)*u(1)/m3; x(8); x(10)*x(12)*((Iy-Iz)/Ix) + u(2)/Ix; x(10); x(8)*x(12)*((Iz-Ix)/Iy) - Jt*x(12)*Omega/Iy + l*u(3)/Iy; x(12); x(8)*x(10)*((Ix-Iy)/Iz) + Jt*x(10)*Omega/Iz + l*u(4)/Iz]; % function xdot=f_xu;
From: Walter Roberson on 4 Aug 2010 21:53 zainah wrote: > ??? Input argument "Yd" is undefined. > u=sb_inputy(t_current,y,k1,k2,k3,k4,k5,m2,Ix,Iy,Iz,l,Xd,Yd); Count the arguments you are passing in to the function. > function actual_u=sb_inputy(t,x,y,k1,k2,k3,k4,k5,m2,Ix,Iy,Iz,l,Xd,Yd) Count the arguments that are needed by the function.
From: Steven_Lord on 5 Aug 2010 09:44 "Walter Roberson" <roberson(a)hushmail.com> wrote in message news:JQo6o.57864$YX3.14234(a)newsfe18.iad... > zainah wrote: > >> ??? Input argument "Yd" is undefined. > >> u=sb_inputy(t_current,y,k1,k2,k3,k4,k5,m2,Ix,Iy,Iz,l,Xd,Yd); > > Count the arguments you are passing in to the function. > > >> function actual_u=sb_inputy(t,x,y,k1,k2,k3,k4,k5,m2,Ix,Iy,Iz,l,Xd,Yd) > > Count the arguments that are needed by the function. And as a stylistic suggestion (that would also have helped avoid this problem) consider packing your additional input arguments in a struct array and passing just that struct array as an additional input, retrieving the appropriate fields from the struct inside sb_inputy as needed. That way, instead of calling your function with fourteen inputs, you'd call it with 4. I find 4-input function calls to be much easier to read than 14-input function calls. -- Steve Lord slord(a)mathworks.com comp.soft-sys.matlab (CSSM) FAQ: http://matlabwiki.mathworks.com/MATLAB_FAQ To contact Technical Support use the Contact Us link on http://www.mathworks.com
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