How to solve this problem？Sometimes it can print the solution, but sometimes it can't。 How do I rewrite this problem or how do I solve it

1

function [U] = Cvx_slover(x,Qa,Qb,Qp,A,B,tao,X_Last,X_left,X_right,F,ub,lb,Np,ui,vi,fai,Xr,D_left_vector,D_right_vector)
w=[1,0];
cvx_begin
variables U(Np,1)
minimize((Xr-Fx-faiU-tao)'Qa(Xr-Fx-faiU-tao)+(X_left-Fx-faiU-tao-D_left_vector)'Qb(X_left-Fx-faiU-tao-D_left_vector)+(X_right-Fx-faiU-tao-D_right_vector)'Qb(X_right-Fx-faiU-tao-D_right_vector)+U’QpU);
subject to
%状态相容性约束
norm(X_Last(1:2,:)-(F(1:2 , : ) * x+BU(1)+tao(1:2,:)),2)<=vi(1);
norm(X_Last(3:4,:)-(F(3:4 , : )x+ABU(1)+BU(2)+tao(3:4,:)),2)<=vi(2);
norm(X_Last(5:6,:)-(F(5:6 , : )x+AABU(1)+ABU(2)+BU(3)+tao(5:6,:)),2)<=vi(3);
norm(X_Last(7:8,:)-(F(7:8 , : )x+AAABU(1)+AABU(2)+ABU(3)+BU(4)+tao(7:8,:)),2)<=vi(4);
norm(X_Last(9:10,:)-(F(9:10 , : )x+AAAABU(1)+AAABU(2)+AABU(3)+ABU(4)+BU(5)+tao(9:10,:)),2)<=vi(5);
norm(X_Last(11:12 , : )-(F(11:12 , : )x+AAAAABU(1)+AAAABU(2)+AAABU(3)+AABU(4)+ABU(5)+BU(6)+tao(11:12,:)),2)<=vi(6);
%位置相容性约束
norm(X_Last(1,:)-w(F(1:2 , : )x+BU(1)+tao(1:2,:)),2)<=ui(1);
norm(X_Last(3,:)-w*(F(3:4 , : )x+ABU(1)+BU(2)+tao(3:4,:)),2)<=ui(2);
norm(X_Last(5,:)-w*(F(5:6, : )x+AABU(1)+ABU(2)+BU(3)+tao(5:6,:)),2)<=ui(3);
norm(X_Last(7,:)-w(F(7:8, : )x+AAABU(1)+AABU(2)+ABU(3)+BU(4)+tao(7:8,:)),2)<=ui(4);
norm(X_Last(9,:)-w(F(9:10, : )x+AAAABU(1)+AAABU(2)+AABU(3)+ABU(4)+BU(5)+tao(9:10,:)),2)<=ui(5);
norm(X_Last(11,:)-w*(F(11:12, : )x+AAAAABU(1)+AAAABU(2)+AAABU(3)+AABU(4)+ABU(5)+BU(6)+tao(11:12,:)),2)<=ui(6);
for i=1:Np
U(i)<=ub;
U(i)>=lb;
end
Fx+faiU+tao>=zeros(2*Np,1);
cvx_end
end

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Please be more specific as to what happens when"it can’t print the solution. Show us all the solver and CVX output.