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dc.contributor.author
Trimpe, Sebastian
dc.contributor.author
D'Andrea, Raffaello
dc.date.accessioned
2021-07-28T13:22:47Z
dc.date.available
2017-06-09T16:52:21Z
dc.date.available
2018-08-31T12:01:22Z
dc.date.available
2021-07-28T13:22:47Z
dc.date.issued
2011-01
dc.identifier.isbn
978-3-902661-93-7
en_US
dc.identifier.issn
1474-6670
dc.identifier.other
10.3182/20110828-6-IT-1002.00564
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/40208
dc.description.abstract
A distributed state estimation algorithm that makes use of model-based predictions to reduce communication requirements in a networked control architecture is tested on an unstable system. A cube balancing on one of its edges serves as the test platform, and six rotating bodies on the cube's inner faces constitute the agents in the control network. Each agent carries a computational unit, which runs estimation and control algorithms, and is associated with local sensors and an actuator. Measurement data is shared among the agents over a broadcast network. Each agent maintains two estimates of the system state: the first reflecting the common knowledge in the network, and the second additionally including all local sensor information. An agent's sensor measurement is only broadcast if it deviates from the common estimate of that measurement by more than a specified threshold. Experimental results show that the number of communicated measurements required for stabilizing the system can be significantly reduced with this event-based communication protocol.
en_US
dc.language.iso
en
en_US
dc.publisher
Elsevier
en_US
dc.title
An experimental demonstration of a distributed and event-based state estimation algorithm
en_US
dc.type
Conference Paper
dc.date.published
2016-04-25
ethz.book.title
Proceedings of the 18th World Congress
en_US
ethz.journal.title
IFAC Proceedings Volumes
ethz.journal.volume
44
en_US
ethz.journal.issue
1
en_US
ethz.pages.start
8811
en_US
ethz.pages.end
8818
en_US
ethz.event
18th IFAC World Congress (IFAC 2011)
en_US
ethz.event.location
Milano, Italy
en_US
ethz.event.date
August 28 - September 2, 2011
en_US
ethz.publication.place
Oxford
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
ethz.date.deposited
2017-06-09T16:52:36Z
ethz.source
ECIT
ethz.identifier.importid
imp59364e9181b5178778
ethz.ecitpid
pub:67344
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-12T20:36:24Z
ethz.rosetta.lastUpdated
2021-02-15T01:29:19Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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