State Estimation with Event-Based Inputs Using Stochastic Triggers

Abstract

Abstract Event-based communication and state estimation offer the potential to improve resource utilization in networked sensor and control systems significantly. Sensor nodes can trigger transmissions when data are deemed useful for the remote estimation units. To improve the estimation performance, the remote estimator can exploit the implicit information conveyed by the event trigger even if no transmission is triggered. The implicit information is typically incorporated into the measurement update of a remote Kalman filter. In this paper, event-triggered transmissions of input data are investigated that enter the prediction step of the remote estimator. By employing a stochastic trigger, the implicit input information remains Gaussian and can easily be incorporated into the remote Kalman filter. The proposed event-based scheme is evaluated in remote tracking scenarios, where system inputs are transmitted aperiodically.