Distributed Event-based State Estimation

2015

Technical Report

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An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor-actuator-agents observe a dynamic process and sporadically exchange their measurements and inputs over a bus network. Based on these data, each agent estimates the full state of the dynamic system, which may exhibit arbitrary inter-agent couplings. Local event-based protocols ensure that data is transmitted only when necessary to meet a desired estimation accuracy. This event-based scheme is shown to mimic a centralized Luenberger observer design up to guaranteed bounds, and stability is proven in the sense of bounded estimation errors for bounded disturbances. The stability result extends to the distributed control system that results when the local state estimates are used for distributed feedback control. Simulation results highlight the benefit of the event-based approach over classical periodic ones in reducing communication requirements.

Author(s): Sebastian Trimpe
Year: 2015
Month: November

Department(s): Autonomous Motion
Bibtex Type: Technical Report (techreport)
Paper Type: Technical Reports

Institution: Max Planck Institute for Intelligent Systems

Eprint: arXiv:1511.05223

Links: arXiv

BibTex

@techreport{tr15_techrep,
  title = {Distributed Event-based State Estimation},
  author = {Trimpe, Sebastian},
  institution = {Max Planck Institute for Intelligent Systems},
  month = nov,
  year = {2015},
  eprint = {arXiv:1511.05223},
  month_numeric = {11}
}