LAUSR

In this article, an event-triggered distributed state estimation mechanism is proposed for general linear systems that comprise several subsystems. Two distributed moving horizon estimation (MHE) algorithms that can handle constraints on disturbances and noise are proposed. An event scheduler is exploited to govern the evaluation of the estimators and networked information exchange between the plant and the estimators, such that good estimates can be provided while both the usage of processors and networked communication frequency can be reduced. The estimation error provided by the event-triggered estimation mechanism is proven to be convergent and bounded. A numerical example and a chemical process example are used to verify the effectiveness and applicability of the proposed method.