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Bexley asked . 2020-11-28

How to solve evalfis error?

I try to run the program "Modeling Inverse Kinematics in a Robotic Arm"

 

l1 = 10; % length of first arm
l2 = 7; % length of second arm

theta1 = 0:0.1:pi/2; % all possible theta1 values
theta2 = 0:0.1:pi; % all possible theta2 values

[THETA1,THETA2] = meshgrid(theta1,theta2); % generate a grid of theta1 and theta2 values

X = l1 * cos(THETA1) + l2 * cos(THETA1 + THETA2); % compute x coordinates
Y = l1 * sin(THETA1) + l2 * sin(THETA1 + THETA2); % compute y coordinates

data1 = [X(:) Y(:) THETA1(:)]; % create x-y-theta1 dataset
data2 = [X(:) Y(:) THETA2(:)]; % create x-y-theta2 dataset

plot(X(:),Y(:),'r.'); 
  axis equal;
  xlabel('X','fontsize',10)
  ylabel('Y','fontsize',10)
  title('X-Y coordinates generated for all theta1 and theta2 combinations using forward kinematics formula','fontsize',10)
  
opt = anfisOptions;
opt.InitialFIS = 7;
opt.EpochNumber = 150;
opt.DisplayANFISInformation = 0;
opt.DisplayErrorValues = 0;
opt.DisplayStepSize = 0;
opt.DisplayFinalResults = 0;

disp('--> Training first ANFIS network.')

anfis1 = anfis(data1,opt);

disp('--> Training second ANFIS network.')

opt.InitialFIS = 6;
anfis2 = anfis(data2,opt);

x = 0:0.1:2; % x coordinates for validation
y = 8:0.1:10; % y coordinates for validation

[X,Y] = meshgrid(x,y);

c2 = (X.^2 + Y.^2 - l1^2 - l2^2)/(2*l1*l2);
s2 = sqrt(1 - c2.^2);
THETA2D = atan2(s2,c2); % theta2 is deduced

k1 = l1 + l2.*c2;
k2 = l2*s2;
THETA1D = atan2(Y,X) - atan2(k2,k1); % theta1 is deduced

Until I run the coding below, I got error using evalfis

 

XY = [X(:) Y(:)];
THETA1P = evalfis(anfis1,XY); % theta1 predicted by anfis1
THETA2P = evalfis(anfis2,XY); % theta2 predicted by anfis2

The error that I get:

 

Error using evalfis (line 51)
The second argument must be a FIS structure.

matlab , control system , fuzzy logic ,

Expert Answer

Prashant Kumar answered . 2025-03-26 03:52:24

The error message indicates that the evalfis function is expecting the first argument to be a trained Fuzzy Inference System (FIS) structure, but it received something else. In your code, the issue lies with how anfis1 and anfis2 are defined or trained.

Let’s resolve this step-by-step:


1. Verify Training of anfis1 and anfis2

The anfis function should output a trained FIS structure if provided with valid data and options. In your case, check the anfis training process:

 

anfis1 = anfis(data1, opt);
anfis2 = anfis(data2, opt);

Make sure:

  • data1 and data2 are valid training datasets with at least 2 inputs and 1 output (3 columns).
  • opt.InitialFIS is properly defined. Setting it to 7 or 6 might be incorrect. Typically, you create an initial FIS structure using genfis or provide an existing FIS.

2. Fixing opt.InitialFIS

Instead of assigning numeric values (7 and 6), initialize the FIS structure using genfis. Here's an example:

 

% Generate an initial FIS for anfis1
fis1 = genfis(data1(:,1:2), data1(:,3)); % Inputs: X, Y; Output: THETA1
opt.InitialFIS = fis1;

anfis1 = anfis(data1, opt);

% Generate an initial FIS for anfis2
fis2 = genfis(data2(:,1:2), data2(:,3)); % Inputs: X, Y; Output: THETA2
opt.InitialFIS = fis2;

anfis2 = anfis(data2, opt);

This ensures that the anfis function has a valid FIS to start with.


3. Using evalfis

Once you have trained FIS structures (anfis1 and anfis2), you can use them in evalfis:

 

XY = [X(:) Y(:)];
THETA1P = evalfis(anfis1, XY); % Predict THETA1
THETA2P = evalfis(anfis2, XY); % Predict THETA2

4. General Troubleshooting

If you still face issues:

  • Use disp or class to check the type of anfis1 and anfis2 after training:

 

disp(class(anfis1));
  • If the class is not mamfis or sugfis (FIS structures), then training failed.

  • Inspect the training datasets (data1 and data2) for correctness:

    • data1 and data2 must have at least three columns.
    • The first two columns are inputs (X, Y), and the third column is the corresponding output (THETA1 or THETA2).

By ensuring anfis1 and anfis2 are valid trained FIS structures, you should be able to use evalfis without errors. Let me know if you encounter any specific issues during these steps!


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