线性化

[fly-daiuser]

你好，我在作者给的非线性动力学模型 线性化 案例中，按照给的代码，运行总是会出现类型不匹配的错误，运行了作者的代码也是同样的问题，请问是为什么呢
作者代码如下：
mc = 0.2 # mass of the cart (kg)
mp = 0.1 # mass of the pole (kg)
ℓ = 0.5 # distance to the center of mass (meters)
g = 9.81

def cartpole_dynamics(x, u):
r = x[0] # cart position
theta = x[1] # pole angle
rd = x[2] # change in cart position
theta_d = x[3] # change in pole angle
F = u[0] # force applied to cart

#问题出现处，显示np.sin(theta)中的theta不符合数据要求
theta_dd = (gnp.sin(theta) + np.cos(theta) * ((-F - mpl*(theta_d**2) *
np.sin(theta))/(mc + mp))) / (l*(4/3 - (mp*(np.cos(theta)2))/(mc + mp)))
rdd = (F + mpl((theta_d2)np.sin(theta) - theta_ddnp.cos(theta))) / (mc + mp)

return np.array([rd, theta_d, rdd, theta_dd])

def cartpole_rk4(x, u, dt):
f1 = dtcartpole_dynamics(x, u)
f2 = dtcartpole_dynamics(x + f1/2, u)
f3 = dtcartpole_dynamics(x + f2/2, u)
f4 = dtcartpole_dynamics(x + f3, u)
return x + (1/6)(f1 + 2f2 + 2*f3 + f4)
import autograd as AG

xgoal = np.array([0.0, np.pi, 0.0, 0.0])
ugoal = np.array([0.0])

dt = 0.01

A = AG.jacobian(lambda x_: cartpole_rk4(x_, ugoal))(xgoal)
B = AG.jacobian(lambda u_: cartpole_rk4(xgoal, u_))(ugoal)

[xkhainguyen]

Hi, I'm sorry but could you post in English?