Unknown database error when migrate database with using doctrine/dbal

I try to make pos system, in migration reletionship i use doctrine/dbal before run migrate for make the reletionship, after installing doctrine/dbal when i run migrate appear unknown error, i don't know this error. how to fix it this error ?

this is laravel 5, running error when i run migrate

Illuminate\Database\QueryException  : SQLSTATE[42000]: Syntax error or access violation: 1064 You have an error in your SQL syntax; check the manual that  Illuminate\Database\QueryException  : SQLSTATE[42000]: Syntax error or access violation: 1064 You have an error in your SQL syntax; check the manual that corre
sponds to your MariaDB server version for the right syntax to use near ') on delete cascade on update cascade' at line 1 (SQL: alter table `products` add constrai
nt `products_category_id_foreign` foreign key (`category_id`) references `categories` () on delete cascade on update cascade)

  at D:\laravel\POS_latihan\vendor\laravel\framework\src\Illuminate\Database\Connection.php:665
    661|         // If an exception occurs when attempting to run a query, we'll format the error
    662|         // message to include the bindings with SQL, which will make this exception a
    663|         // lot more helpful to the developer instead of just the database's errors.
    664|         catch (Exception $e) {
  > 665|             throw new QueryException(
    666|                 $query, $this->prepareBindings($bindings), $e
    667|             );
    668|         }
    669| 

  Exception trace:

  1   Doctrine\DBAL\Driver\PDOException::("SQLSTATE[42000]: Syntax error or access violation: 1064 You have an error in your SQL syntax; check the manual that cor
responds to your MariaDB server version for the right syntax to use near ') on delete cascade on update cascade' at line 1")
      D:\laravel\POS_latihan\vendor\doctrine\dbal\lib\Doctrine\DBAL\Driver\PDOConnection.php:63

  2   PDOException::("SQLSTATE[42000]: Syntax error or access violation: 1064 You have an error in your SQL syntax; check the manual that corresponds to your Mari
aDB server version for the right syntax to use near ') on delete cascade on update cascade' at line 1")
      D:\laravel\POS_latihan\vendor\doctrine\dbal\lib\Doctrine\DBAL\Driver\PDOConnection.php:61

  Please use the argument -v to see more details.

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