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arXiv · 1707.01659

Distributed Event-Based State Estimation for Networked Systems: An LMI-Approach

Michael Muehlebach·Sebastian Trimpe
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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.

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Michael Muehlebach, Sebastian Trimpe. 2017-07-06. Distributed Event-Based State Estimation for Networked Systems: An LMI-Approach. https://doi.org/10.1109/tac.2017.2726002

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