Dynamic event-triggered distributed observer for linear systems

Abstract

This paper investigates a dynamic event-triggered distributed observer for linear systems including two groups of local observers: one can access the local outputs and another cannot. By the detectability decomposition, the proposed observer contains a detectable sub-state (DSS) observer and a distributed undetectable sub-state (USS) observer. The dynamic event-triggered mechanism (DETM) for the outputs only requires a copy of the DSS observer with low dimension. Besides, only the USS estimate is transmitted to the neighbors which can reduce the communication burden. Positive minimum inter-event times are prescribed previously in the DETMs, and piece-wise dynamics for internal dynamic variables are employed. By modeling the error systems as hybrid systems, the exponential stability of the proposed observer is assured with the utilization of time-triggering method and event-triggering method.