Remote State Estimation With Posterior-Based Stochastic Event-Triggered Schedule

Abstract

This paper aims to study the state estimation problem under the stochastic event-triggered (SET) schedule. A posterior-based SET mechanism is proposed, which determines whether to transmit data by the effect of the measurement on the posterior estimate. Since this SET mechanism considers the whole posterior probability density function, it has better information screening capability and utilization than the existing SET mechanisms that only consider the first-order moment information of measurement and prior estimate. Then, based on the proposed SET mechanism, the corresponding exact minimum mean square error estimator is derived by Bayes rule. Moreover, the prediction error covariance of the estimator is proved to be bounded under moderate conditions. Meanwhile, the upper and lower bounds on the average communication rate are also analyzed. Finally, two different systems are employed to show the effectiveness and advantages of the proposed methods.