[Débutant] Probleme dimension matrice

Probleme dimension matrice

Bonjour tout le monde !!

Voilà j'ai écrit un programme qui fait des calculs de matrice, le problème c'est que le dernier calcul que j'effectue m'est interdit :"Inner matrix dimensions must agree."

Pourriez vous m'éclairer sur le problème que j'ai ? Voici le code (MATLAB 7.1)

Code:

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%Declaration des variables
%velocity vehicle
ee=-1;
ff=1;
e=-4;
f=4;
g=-3;
h=3;
 
%position vehicle
a=-3;
b1=3;
c=-1;
d=1;
 
for i=1:100
u(i)=e + (f-e).*rand(1,1);
v(i)=e + (f-e).*rand(1,1);
w(i)=e + (f-e).*rand(1,1);
% v(i)=ee + (ff-ee).*rand(1,1);
% w(i)=ee + (ff-ee).*rand(1,1);
p(i)=g + (h-g).*rand(1,1);
q(i)=g + (h-g).*rand(1,1);
r(i)=g + (h-g).*rand(1,1);
 
x(i)=a + (b1-a).*rand(1,1);
y(i)=a + (b1-a).*rand(1,1);
z(i)=a + (b1-a).*rand(1,1);
k(i)=c + (d-c).*rand(1,1);
m(i)=c + (d-c).*rand(1,1);
n(i)=c + (d-c).*rand(1,1);
 
%position desired
 
xd(i)=0.*rand(1,1);
yd(i)=0.*rand(1,1);
zd(i)=0.*rand(1,1);
kd(i)=0.*rand(1,1);
md(i)=0.*rand(1,1);
nd(i)=0.*rand(1,1);
 
%velocity desired
ud(i)=0.*rand(1,1);
vd(i)=0.*rand(1,1);
wd(i)=0.*rand(1,1);
pd(i)=0.*rand(1,1);
qd(i)=0.*rand(1,1);
rd(i)=0.*rand(1,1);
end
 
lamda=1;
 
%Constant sliding mode
K_d=[63.3004485960159,162.181423423896,41.8291472868677,69.3656369201298,181.131563796614,59.2394702220616;
    87.6242209836225,179.701126219635,32.4269047893673,97.9391054737903,156.085717079579,30.9086058793113;
    123.734446799507,194.811665420599,99.5774725775969,105.927816083716,126.146305208428,87.1503969246747;
    6.99648015775473,5.84553562976381,133.977042475848,114.814578882928,0,30.5880507117889;
    0.515305730309783,28.8612978668872,59.1138539405062,183.016078215629,122.679564408306,0.113027658301087;
    0.993665945227155,124.569556387969,38.7705712695965,9.82764286610618,27.5194202095333,22.9051359636596];
 
K=[0.557788044423199,0.318498624584605,0.254549116842879,0.159196682102989,0.679198874384360,0.173483553886239;
    0.223452419745479,0.0191751545697429,0.528611505553041,0.409127720415397,1,0.689693792403705;
    0.313711701357736,0.397954067342930,0.605385327082023,1,0.217279758360192,0.511747087051874;
    0.420943516966844,0.126587123532503,0.622183543976304,0.332166125472057,0.674439352790208,0.804636884027220;
    0.249668547348253,0.929462603490907,0.882514791253589,0.911941497749215,0.402566940321656,0.856218851921692;
    0.138975064982323,0,0.572384258384079,1,0.900391989174519,0.544293383282120];
 
 
%Calcul
 
for i=1:100
xn(:,i)=[x(1,i);y(1,i);z(1,i);k(1,i);m(1,i);n(1,i)];
xdot1(:,i)=[u(i);v(i);w(i)];
xdot2(:,i)=[p(i);q(i);r(i)];
xdot(:,i)=[xdot1(:,i);xdot2(:,i)];
 
x_d(:,i)=[xd(i);yd(i);zd(i);kd(i);md(i);nd(i)];
xdot_d1(:,i)=[ud(i);vd(i);wd(i)];
xdot_d2(:,i)=[pd(i);qd(i);rd(i)];
xdot_d(:,i)=[xdot_d1(:,i);xdot_d2(:,i)];
end
 
for i=1:100
xdot_r(:,i)=xdot_d(:,i)-(lamda*(xn(:,i)-x_d(:,i)));
end 
 
for i=1:100
S(:,i)=xdot(:,i)-xdot_r(:,i);
end 
 
for i=1:100
S2(:,i)=K*tan(S(:,i)/n(1,i));
end
 
for i=1:100
S1(:,:,i)=S(:,i)*K_d; 
end

%S est un vecteur colonne (6*1) mais il a 100 colonnes car on tente de savoir les variations qu'il peut avoir.
% K_d: est matrice 6*6 fixe

Ce programme sert en faite à déterminer les variations de chaque signaux afin par la suite de mieux utiliser nos 36 bits pour chaque variable.

Je vous remercie d'avance et espère avoir de vos nouvelles!!
Amaury

Probleme resolu,

Je m'étais trompé sur la forme de la matrice finale, je souhaité en faite une matrice 6*1

soit:
Code:

1 2 3 4 5 6 7 8 9 10 11 for i=1:100 S(:,i)=xdot(:,i)-xdot_r(:,i); end for i=1:100 S2(:,i)=K*tan(S(:,i)/n(1,i)); end for i=1:100 S1(:,i)=K_d*S(:,i); end
Bonne journée à tous

salut
ceci
Code:

1 2 3 for i=1:100 S(:,i)=xdot(:,i)-xdot_r(:,i); end
s'écrit comme ceci

Code:

S(:,1:100)=xdot(:,1:100)-xdot_r(:,1:100);

tu peux remplacer partout où tu as ce genre de boucle
et
ceci
Code:

1 2 3 for i=1:100 u(i)=e + (f-e).*rand(1,1); end
comme cela

Code:

u =e + (f-e).*rand(1,100);

ceci
Code:

1 2 3 for i = 1:100 xd(i)=0.*rand(1,1); end
devient

Code:

xd=zeros(1,100);