Differential equations for ellipsoidal estimates for reachable sets of a nonlinear dynamical control system

Abstract

The problem of estimating trajectory tubes of a nonlinear control dynamical system with uncertainty in initial data is considered. It is assumed that the dynamical system has a special structure, in which nonlinear terms are quadratic in phase coordinates and the values of the uncertain initial states and admissible controls are subject to ellipsoidal constraints. Differential equations are found that describe the dynamics of the ellipsoidal estimates of reachable sets of the nonlinear dynamical system under consideration. To estimate reachable sets of the nonlinear differential inclusion corresponding to the control system, we use results from the theory of ellipsoidal estimation and the theory of evolution equations for set-valued states of dynamical systems under uncertainty.