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arXiv · 2510.04814

Robust stability of event-triggered nonlinear moving horizon estimation

Isabelle Krauss·Victor G. Lopez·Matthias A. Müller
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Abstract

In this work, we propose an event-triggered moving horizon estimation (ET-MHE) scheme for the remote state estimation of general nonlinear systems. In the presented method, whenever an event is triggered, a single measurement is transmitted and the nonlinear MHE optimization problem is subsequently solved. If no event is triggered, the current state estimate is updated using an open-loop prediction based on the system dynamics. Moreover, we introduce a novel event-triggering rule under which we demonstrate robust global exponential stability of the ET-MHE scheme, assuming a suitable detectability condition is met. In addition, we show that with the adoption of a varying horizon length, a tighter bound on the estimation error can be achieved. Finally, we validate the effectiveness of the proposed method through two illustrative examples.

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Isabelle Krauss, Victor G. Lopez, Matthias A. Müller. 2025-10-06. Robust stability of event-triggered nonlinear moving horizon estimation. https://arxiv.org/abs/2510.04814

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