The Design Of Distributed Observers Based On Event-triggered Schemes

With the development of distributed control and multi-agent systems,distributed estimation/observers have attracted considerable attention in the scientific community.Distributed observers have been widely used in the engineering scenarios,such as the complex environment monitoring and the target tracking,due to their flexibility and robustness.This paper mainly studies the design of the distributed observers.The event-triggered control and quantitative control are applied to distributed observers.Finally,numerical simulations are given to show the effectiveness of the proposed approaches.The main work of this paper includes the following aspects:1.For the undirected communication topology,in order to achieve the discrete-time communications among(sub-)observers,a dynamic event-triggered mechanism is proposed to reduce the communication frequency among neighboring observers as well as to ensure accurate estimations of the designed observers.The system matrix is solved by Lyapunov equation and linear matrix inequality(LMI).In this case,each observer will broadcast its own information to its neighbors only if the relevant event triggering condition is met.It is proved that there is a minimum time interval between two successive events,which indicates that the Zeno behavior is excluded.2.In order to implement discrete-time communication between the observers and the observed object,a time-dependent event-triggered mechanism is proposed to reduce the communication frequency between the observers and the observed object.At the same time,the accuracy estimations of the designed observers are ensured.Only when the event-triggered condition is satisfied can the observer receive part of the output from the observed object.In addition,it is proved that there is a minimum time interval for the designed event-triggered condition,which implies that the Zeno behavior is excluded.3.The design problem of distributed observers under quantization constraints is studied.The quantization communication between distributed observers is implemented by designing a uniform quantizer and logarithmic quantizer.In addition,we design a distributed observer with quantized information communication through the event-triggered control.At last,we summarize the work,point out the insufficiency and the research direction of the distributed observers,and give the prospect of the future work.