Contraints does not work

[Shuzhou MAO]

Hello, everybody,

I use yalmip in Simulink, but the result is not correct, all the output is 0. That means the Constraints does not work. The solver is Mosek. And this is a convex nonlinear optimization. Thanks for your help.

The complete code is:

function F_Param = optimfcn(u_d,w_v_d,t)

    persistent Controller

    if t==0 

        l=2.7;s=1.48;

        l_v = 1.43;     

        l_h = 1.27;      

        s_l = 0.74;     

        s_r = 0.74;   

        F_Z_F0= [4034;4034;4549;4549];

        F_z0 = 4000;     

        k_Fz = 0.1; 

        G = [1 0 1 0 1 0 1 0;

         0 1 0 1 0 1 0 1;

         -s_l l_v s_r l_v -s_l -l_h s_r -l_h];

        V = [1, 1, 1, 1;

         s_l, -s_r, s_l, -s_r;

         -l_v, -l_v, l_h, l_h];

        G_plus = G'*inv(G*G');

        G_rann = [1 0 0 0 -l/s;

                  0 0 1 0 0;

                  0 1 0 0 l/s;

                  0 0 -1 0 -1;

                  -1 0 0 0 0;

                  0 0 0 1 1;

                  0 -1 0 0 0;

                  0 0 0 -1 0;];

        V_plus=V'*inv(V*V');

        V_rann=[1;1;1;1];

        yalmip('clear')

        x=sdpvar(7,1);

        rr=sdpvar(3,1);

        uu=sdpvar(3,1);

        M=eye(8,8);

        N=eye(4,4);

        constraints=[];

        constraints=[constraints,-x(1)<=0];

        for i=1:4

            constraints=[constraints,-x(1)*(-(1*k_Fz/F_z0)*(N(i,:)*(V_plus*uu+V_rann*x(7)+F_Z_F0))^2+(1+k_Fz)*N(i,:)*(V_plus*uu+V_rann*x(7)+F_Z_F0))<=0];

        end

        j=1;

        for i=1:4

            constraints=[constraints,sqrt((M(j,:)*(G_plus*rr+G_rann*[x(2);x(3);x(4);x(5);x(6)]))^2+(M(j+1,:)*(G_plus*rr+G_rann*[x(2);x(3);x(4);x(5);x(6)]))^2)-x(1)*(-(1*k_Fz/F_z0)*(N(i,:)*          (V_plus*uu+V_rann*x(7)+F_Z_F0))^2+(1+k_Fz)*N(i,:)*(V_plus*uu+V_rann*x(7)+F_Z_F0))<=0];

            j=j+2;

        end

        objective=x(1)+x(2)^2+x(3)^2+x(4)^2+x(5)^2+x(6)^2+(x(7))^2;

        ops=sdpsettings('solver','mosek','verbose',0);

        Controller=optimizer(cc,objective,ops,{rr,uu},x);

        Param=Controller({u_d,w_v_d});

    else

        Param=Controller({u_d,w_v_d});

    end

    F_Param=Param;

[Johan Löfberg]

you haven't supplied any u_d,w_v_d so we cannot test your code

and verbose is automatically set to 0 in optimizer. when you debug code, you should set it to 2 so you see what the solver is doing

and you should catch the second output from the optimizer call to see the diagnostic code also when you solve the problem

you are trying to debug in complete darkness now...