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Stability Analysis of Distributed Event-Based State Estimation


Conference Paper



An approach for distributed and event-based state estimation that was proposed in previous work [1] is analyzed and extended to practical networked systems in this paper. Multiple sensor-actuator-agents observe a dynamic process, sporadically exchange their measurements over a broadcast network according to an event-based protocol, and estimate the process state from the received data. The event-based approach was shown in [1] to mimic a centralized Luenberger observer up to guaranteed bounds, under the assumption of identical estimates on all agents. This assumption, however, is unrealistic (it is violated by a single packet drop or slight numerical inaccuracy) and removed herein. By means of a simulation example, it is shown that non-identical estimates can actually destabilize the overall system. To achieve stability, the event-based communication scheme is supplemented by periodic (but infrequent) exchange of the agentsâ?? estimates and reset to their joint average. When the local estimates are used for feedback control, the stability guarantee for the estimation problem extends to the event-based control system.

Author(s): Sebastian Trimpe
Book Title: Proceedings of the 53rd IEEE Conference on Decision and Control
Year: 2014

Department(s): Autonomous Motion, Intelligent Control Systems
Research Project(s): Networked Control and Communication
Bibtex Type: Conference Paper (inproceedings)
Paper Type: Conference

DOI: 10.1109/CDC.2014.7039694

Address: Los Angeles, CA
Cross Ref: p10605
State: Published
Attachments: PDF
Supplementary material


  title = {Stability Analysis of Distributed Event-Based State Estimation},
  author = {Trimpe, Sebastian},
  booktitle = {Proceedings of the 53rd IEEE Conference on Decision and Control},
  address = {Los Angeles, CA},
  year = {2014},
  crossref = {p10605}