Event-based State Estimation: An Emulation-based Approach
For networked control systems, this work provides a method to reduce communication overhead while maintaining estimation accuracy, but it is an incremental extension of existing event-triggering and emulation concepts.
The paper proposes an event-based state estimation approach that reduces communication in networked control systems while emulating centralized observer performance within guaranteed bounds. Simulations and hardware experiments demonstrate reduced network communication.
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.