Distributed Event-Based State Estimation for Networked Systems: An LMI-Approach
For control engineers designing networked control systems, this work provides a systematic LMI-based approach to co-design event-triggering and estimation, though it is an incremental extension of existing event-triggered control methods.
This paper proposes a synthesis procedure for designing distributed event-triggered state estimators and thresholds for networked systems, guaranteeing stability and predefined estimation performance. The method is demonstrated on a vehicle platoon, showing trade-offs between performance and communication and scalability in agent count.
In this work, a dynamic system is controlled by multiple sensor-actuator agents, each of them commanding and observing parts of the system's input and output. The different agents sporadically exchange data with each other via a common bus network according to local event-triggering protocols. From these data, each agent estimates the complete dynamic state of the system and uses its estimate for feedback control. We propose a synthesis procedure for designing the agents' state estimators and the event triggering thresholds. The resulting distributed and event-based control system is guaranteed to be stable and to satisfy a predefined estimation performance criterion. The approach is applied to the control of a vehicle platoon, where the method's trade-off between performance and communication, and the scalability in the number of agents is demonstrated.