Distributed Event-Based State Estimation for Networked Systems: An LMI-Approach
arXiv:1707.01659 · doi:10.1109/TAC.2017.2726002
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.
This is an extended version of an article to appear in the IEEE Transactions on Automatic Control (additional parts in the Appendix)