- Conference Paper
An event-based state estimation problem is considered where the state of a dynamic system is observed from multiple distributed sensors that sporadically transmit their measurements to a remote estimator over a common bus. The common bus allows each sensor to run a copy of the remote estimator and to make the triggering decision based on this estimate: a measurement is transmitted only if its prediction by the estimator deviates by more than a tunable threshold. The event-based estimator is a switching observer that mimics a Luenberger observer with full communication of all measurements. It is proven that the difference between the event-based estimator and its full communication counterpart is bounded. The reduction of average sensor communication rates achieved by using the event-based state estimator for feedback control is demonstrated in experiments on a balancing cube. Show more
Book title3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems
Journal / seriesIFAC Proceedings Volumes
Pages / Article No.
SubjectEvent-based estimation; Distributed estimation; State observers; Networked system
Organisational unit03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
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