my code is giving the error "not enough input arguments". How to re... (2024)

clc;clear all;close all;

[t,x] = ode23s(@tsmcr,[0,8],[0.2 2 0 0 0.2 2 0 0]);

figure(1)

subplot(221)

plot(t,x)

plot(t,x(:,5),':r')

legend('q_1','q_r_1')

grid on

xlabel('time(sec)');ylabel('response of q_1');

subplot(222)

hold on

plot(t,x(:,6),':r')

legend('q_2','q_r_2')

grid on

xlabel('time(sec)');ylabel('response of q_2');

r1 = 1;r2 = 0.8;

J1 = 5;J2 = 5;

m1 = 0.5;m2 = 1.5;

g = 9.8;d = 0.01;

a1 = 0.1;a2 = 2;

b1 = 2;b2 = 1;b3 = 2;

U = zeros(length(t),2);

for i = 1:length(t)

a11 = (m1+m2)*r1^2 + m2r2^2 + 2*m2*r1*r2*cos(x(i,2))+J1;

a12 = m2*r2^2 + m2*r1*r2*cos(x(i,2));

a22 = m2*r2^2 + J2;

b12 = m2*r1*r2*sin(x(i,2));

g1 = -((m1+ m2)*r1*cos(x(i,2)) + m2*r2*cos(x(i,1)+x(i,2)));

g2 = (-m2*r2*cos(x(i,1)+x(i,2)));

r = [5;5];

e1 = x(i,1)-x(i,5);

e2 = x(i,2)-x(i,6);

e1d = x(i,3)-x(i,7);

e2d = x(i,4)-x(i,8);

S = [e1^0.6 + e1d;e2^0.6 + e2d];

P = [-4 0;0 -4];Q = [-5 0;0 -5];B1 = eye(2);C1 = eye(2);

if norm(S)>=d

er = diag([0.6*e1^-0.4,0.6*e2^-0.4])*[e1d;e2d];

% er = [-0.6*e1^0.2,-0.6*e2^0.2];

w = norm(P*[x(i,5);x(i,6)]) + norm(Q*[x(i,7);x(i,8)]) + norm(B1*r) + norm(C1*er) + a2*(b1 + b2*norm([x(i,1);x(i,2)])+ b3*norm([x(i,3);x(i,4)])^2);

U(i,:)= -S/(a1*norm(S))*w;

else

er = [-0.6*e1^0.2,-0.6*e2^0.2];

w = norm(P*[x(i,5);x(i,6)]) + norm(Q*[x(i,7);x(i,8)]) + norm(B1*r) + norm(C1*er) + a2*(b1 + b2*norm([x(i,1);x(i,2)])+ b3*norm([x(i,3);x(i,4)])^2);

U(i,:) = -S/(a1*d)*w;

end

%figure(2)

subplot(223)

plot(t,U(:,1))

grid on

xlabel('time(sec)');ylabel('values of u_1');

subplot(224)

plot(t,U(:,2))

xlabel('time(sec)');ylabel('values of u_2');

grid on

end