我的目标是
function f=objecfun(q)
f=(cos(q1)*cos(q2) - (21*sin(q1))/20 + sin(q1)*(q4 + 11/10) - cos(q1)*sin(q2)*(q3 + 11/10-1)^2 + ((21*cos(q1))/20 - cos(q1)*(q4 + 11/10) + cos(q2)*sin(q1) - sin(q1)*sin(q2)*(q3 + 11/10-2)^2-2)^2+(1/10 - cos(q2)*(q3 + 11/10) - sin(q2)-3)^2
初始值
q_k0 = 0.01*ones(length(q),1);
选项：
options=optimset('Algorithm','sqp','TolX',1e-5,'MaxIter',100);
ll= [-1.5708; -1.5708; 0; 0; 0];
uu= [1.5708; 1.5708; 1.0000; 1.0000; 1.5708]
优化功能是：
q_k=fmincon(@objecfun, q_k0', [], [], [], [], ll', uu',[], options);
当我运行代码时，它会发出警告并说：
Local minimum found that satisfies the constraints.
Optimization completed because the objective function is non-decreasing in
feasible directions, to within the default value of the function tolerance,
and constraints are satisfied to within the default value of the constraint tolerance.
<stopping criteria details>
我该如何解决这个问题？