State Estimation Approaches for Control Systems with State Constraints and Uncertainty
The state estimating procedures for nonlinear control dynamical system with uncertainty in the initial data are studied. We assume here that the coefficients of the matrix in linear terms of system state velocities are not exactly known, but belong to the given compact set in the corresponding space. The right hand sides of differential equations of dynamical system may contain also additional nonlinearities defined by quadratic (with respect to state vectors) functions. The emphasis in this paper is on the problem of estimating the nonlinear dynamics of systems of this type, complicated by the presence of an additional state constraint. We present here new approaches and algorithms allowing to find external ellipsoidal estimates of reachable sets of nonlinear control system of the studied type.