fmincon error while running

Hello, can someone help me please,

I am desperate and have no futher ideas.

i have an optimization problem and always get an error while running back.

Thats my problem

function [ Fx1, Fx2, Fx3, Fx4, alpha1, alpha2, alpha3, alpha4] = fcn(Fx_v, Fy_v, Mz_v, P_max_1, P_max_2, P_max_3, P_max_4, M_reg_1, M_reg_2, M_reg_3, M_reg_4, k, delta_T_aA, SW_1, SW_2, SW_3, SW_4, w_1, w_4, w_3, w_2, d_delay_1, d_delay_2, d_delay_3, d_delay_4, r_dyn_1, r_dyn_2, r_dyn_3, SOC_1, SOC_2, r_dyn_4, SOC_3, SOC_4, f_lag, n, j,w_vr, w_vl, w_hr, w_hl, l_h, l_v, c_w,d_min_vl, d_max_vl, d_min_vr, d_max_vr, d_min_hl, d_max_hl, d_min_hr, d_max_hr, A, B, C, FxB_max, SOC_crit, P_min_1, P_min_2, P_min_3, P_min_4)


%Parameterdefinition
%definition of vehicle forces and torque




%case decision
 %  if f_lag > 0                % decision braking or driving mode
       
      % fun =@(x) (A/SOC_1)*(x(1))^2+(A/SOC_2)*(x(2))^2+(A/SOC_3)*(x(3))^2+(A/SOC_4)*(x(4))^2+d_delay_1-(SW_1+x(5))+d_delay_2-(SW_2+x(6))+d_delay_3-(SW_3+x(7))+d_delay_4-(SW_4+x(8));
fun =@(x) (A/SOC_1)*(x(1))^2+(A/SOC_2)*(x(2))^2+(A/SOC_3)*(x(3))^2+(A/SOC_4)*(x(4))^2;
      
%  else
 %     fun =@(x) ((B*M_reg_1)/SOC_1)*(1/(x(1))^2)+((B*M_reg_2)/SOC_2)*(1/(x(2))^2)+((B*M_reg_3)/SOC_3)*(1/(x(3))^2)+((B*M_reg_4)/SOC_4)*(1/(x(4))^2)+d_delay_1-(SW_1+x(5))+d_delay_2-(SW_2+x(6))+d_delay_3-(SW_3+x(7))+d_delay_4-(SW_4+x(8));
 %  end
   
  %objektive function 
x0 = [Fx_v/4,Fx_v/4,Fx_v/4,Fx_v/4,(d_delay_1-SW_1),(d_delay_2-SW_2),(d_delay_3-SW_3),(d_delay_4-SW_4)];
A = [];
b = [];
Aeq = [];


beq = [];


    lb = [P_min_1, P_min_2, P_min_3, P_min_4, d_min_vl-SW_1, d_min_vr-SW_2, d_min_hl-SW_3, d_min_hr-SW_4];

ub = (1:8);

ub = [P_max_1/(r_dyn_1*w_1), P_max_2/(r_dyn_2*w_2), P_max_3/(r_dyn_3*w_3), P_max_4/(r_dyn_4*w_4), d_max_vl-SW_1, d_max_vr-SW_2, d_max_hl-SW_3, d_max_hr-SW_4];


nlcon = @nonlnconstraints;


%options = optimoptions(@fmincon, 'MaxFunctionEvaluations',10.000000e+03);

options = optimoptions(@fmincon, 'Algorithm', 'sqp-legacy');


x = fmincon(fun,x0,A,b,Aeq,beq,lb,ub,nlcon(Fx_v,Fy_v,Mz_v,SW_1,SW_2,SW_3,SW_4,w_vr, w_vl, w_hr, w_hl, l_h, l_v, c_w),options);


%x = fmincon(fun,x0,A,b,Aeq,beq,lb,ub,nlcon(Fx_v,Fy_v,Mz_v,SW_1,SW_2,SW_3,SW_4,w_vr, w_vl, w_hr, w_hl, l_h, l_v, c_w));



Fx1 =  x(1);
Fx2 =  x(2);
Fx3 =  x(3);
Fx4 = x(4);
alpha1 = x(5);
alpha2 = x(6);
alpha3 = x(7);
alpha4 = x(8);



end

with this non linear constraints

function [c,ceq] = nonlnconstraints(Fx_v,Fy_v,Mz_v,SW_1,SW_2,SW_3,SW_4,c_w,l_v,l_h,w_hl,w_hr,w_vl,w_vr)


ceq =@(x) [Fx_v-(x(1)*cos(x(1)+SW_1)+x(2)*cos(x(2)+SW_2)+x(3)*cos(x(3)+SW_3)+x(4)*cos(x(4)+SW_4)-x(5)*sin(x(1)+SW_1)*c_w-x(6)*sin(x(2)+SW_2)*c_w-x(7)*sin(x(3)+SW_3)*c_w-x(8)*sin(x(4)+SW_4)*c_w); Fy_v-(x(1)*sin(x(1)+SW_1)+x(2)*sin(x(2)+SW_2)+x(3)*sin(cos(x(3)+SW_3)+x(4)*sin(x(4)+SW_4)-x(5)*cos(x(1)+SW_1)*c_w-x(6)*cos(x(2)+SW_2)*c_w-x(7)*cos(x(3)+SW_3)*c_w-x(8)*cos(x(4)+SW_4)*c_w)); Mz_v-(x(1)*(cos(x(1)+SW_1)*w_vl-l_v*sin(x(1)+SW_1))+x(2)*(-cos(x(2)+SW_2)*w_vr+sin(x(2)+SW_2)*l_v)+x(3)*(cos(x(3)+SW_3)*w_hl+l_h*sin(x(3)+SW_3))+x(4)*(-cos(x(4)+SW_4)*w_hr+sin(x(4)+SW_4)*l_h)+x(5)*(sin(x(1)+SW_1)*c_w*w_vl+cos(x(1)+SW_1)*c_w*l_v)+x(6)*(sin(x(2)+SW_2)*c_w*w_vr+cos(x(2)+SW_2)*c_w*l_v)+x(7)*(-sin(x(3)+SW_3)*c_w*w_hl-cos(x(3)+SW_3)*c_w*l_h)+x(8)*(cos(x(4)+SW_4)*c_w*l_h+sin(x(4)+SW_4)*c_w*w_hl))];
 
c = [];

end

and I get this error after simulink calculated for a while

An error occurred while running the simulation and the simulation was terminated

Caused by:

Objective or nonlinear constraint undefined at initial point. Fmincon cannot continue.

Error in 'FTR_diskret/CarMaker/VehicleControl/FTR1/Fahren/Aufteilung der Überaktuierung /Kräfteaufteilung/linearer Fahrbereich/MATLAB Function' (line 103)

x = fmincon(fun,x0,A,b,Aeq,beq,lb,ub,nlcon(Fx_v,Fy_v,Mz_v,SW_1,SW_2,SW_3,SW_4,w_vr, w_vl, w_hr, w_hl, l_h, l_v, c_w),options);

Hopefully someone has an idea,

thank you very much