Distributed Event-Based State Estimation for Networked Systems: An LMI-Approach
Abstract
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.
Cite
@article{arxiv.1707.01659,
title = {Distributed Event-Based State Estimation for Networked Systems: An LMI-Approach},
author = {Michael Muehlebach and Sebastian Trimpe},
journal= {arXiv preprint arXiv:1707.01659},
year = {2017}
}
Comments
This is an extended version of an article to appear in the IEEE Transactions on Automatic Control (additional parts in the Appendix)