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Intelligent Control Systems Technical Report Identifying Causal Structure in Dynamical Systems Baumann, D., Solowjow, F., Johansson, K. H., Trimpe, S. 2020 arXiv BibTeX
Autonomous Motion Intelligent Control Systems Technical Report Supplemental material for ’Communication Rate Analysis for Event-based State Estimation’ Ebner, S., Trimpe, S. Max Planck Institute for Intelligent Systems, January 2016 PDF BibTeX
Autonomous Motion Intelligent Control Systems Technical Report Distributed Event-based State Estimation Trimpe, S. Max Planck Institute for Intelligent Systems, November 2015
An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor-actuator-agents observe a dynamic process and sporadically exchange their measurements and inputs over a bus network. Based on these data, each agent estimates the full state of the dynamic system, which may exhibit arbitrary inter-agent couplings. Local event-based protocols ensure that data is transmitted only when necessary to meet a desired estimation accuracy. This event-based scheme is shown to mimic a centralized Luenberger observer design up to guaranteed bounds, and stability is proven in the sense of bounded estimation errors for bounded disturbances. The stability result extends to the distributed control system that results when the local state estimates are used for distributed feedback control. Simulation results highlight the benefit of the event-based approach over classical periodic ones in reducing communication requirements.
arXiv BibTeX