Event-based State Estimation: An Emulation-based Approach

2017

Article

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An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor agents observe a dynamic process and sporadically transmit their measurements to estimator agents over a shared bus network. Local event-triggering protocols ensure that data is transmitted only when necessary to meet a desired estimation accuracy. The event-based design is shown to emulate the performance of a centralised state observer design up to guaranteed bounds, but with reduced communication. The stability results for state estimation are extended to the distributed control system that results when the local estimates are used for feedback control. Results from numerical simulations and hardware experiments illustrate the effectiveness of the proposed approach in reducing network communication.

Author(s): Sebastian Trimpe
Journal: IET Control Theory & Applications
Volume: 11
Number (issue): 11
Pages: 1684-1693
Year: 2017
Month: July

Department(s): Autonomous Motion
Bibtex Type: Article (article)
Paper Type: Journal

DOI: 10.1049/iet-cta.2016.1021
State: Published

Links: arXiv
Attachments: Supplementary material
PDF

BibTex

@article{tr17,
  title = {Event-based State Estimation: An Emulation-based Approach},
  author = {Trimpe, Sebastian},
  journal = {IET Control Theory & Applications},
  volume = {11},
  number = {11},
  pages = {1684-1693},
  month = jul,
  year = {2017},
  month_numeric = {7}
}