Remote State Estimation of Steered Systems With Limited Communications: An Event-Triggered Approach

• Published in: IEEE transactions on automatic control Vol. 69; no. 7; pp. 4199 - 4214
• Main Authors: Voortman, Quentin, Efimov, Denis, Pogromsky, Alexander, Richard, Jean-Pierre, Nijmeijer, Henk
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.07.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Discrete time systems; Dynamical systems; Error analysis; Event detection; Linear systems; Measurement errors; Mechanical systems; nonlinear control systems; Observers; Perturbation methods; Protocols; Remote observing; Sensor systems; State estimation
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2023.3318792

In this article, an approach is proposed for the remote observation of a dynamical system through a data-rate constrained communication channel. The focus is put on discrete-time systems with a Lipschitz nonlinearity, driven by an external signal, and subject to bounded state perturbation and measurement error. The problem at hand is providing estimates of system's state at a remote location, which is connected via a channel, which can only sent limited numbers of bits per unit of time. A solution, named observation scheme, is proposed in the form of several interacting agents. This solution is designed such that the maximum observation error is upper bounded by a computable quantity dependent on system constants and selectable parameters. The scheme is designed in an event-triggered fashion, such that the actual communication rate is sometimes much lower than the theoretically evaluated maximum one, as it is demonstrated through simulations.