Remote State Estimation of Steered Systems with Limited Communications: an Event-Triggered Approach

In this paper, an approach is proposed for the remote observation of a dynamical system through a data-rate constrained communication channel. The focus is put on discrete-time systems with a Lipschitz nonlinearity, driven by an external signal, and subject to bounded state perturbation and measurement error. The problem at hand is providing estimates of system's state at a remote location, which is connected via a channel, which can only sent limited numbers of bits per unit of time. A solution, named observation scheme, is proposed in the form of several interacting agents. This solution is designed such that the maximum observation error is upper-bounded by a computable quantity dependent on system constants and selectable parameters. The scheme is designed in an event-triggered fashion, such that the actual communication rate is sometimes much lower than the theoretically evaluated maximum one, as it is demonstrated through simulations.