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Distributed event-triggered observer design for networked multi-agent systems
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DOI：10.1016/j.nahs.2025.101648.png)
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Abstract
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This paper addresses the state estimation problem of multi-agent systems under multiple networks and event-triggered mechanisms. Multiple networks are to accommodate physical separation of different agents, while event-triggered mechanisms are to address the resource constraints of networks. This setting results in the distributed structure and even the simultaneous design of distributed observers and event-triggered mechanisms. We follow the emulation-based approach to propose a novel hybrid model for the state estimation of multi-agent systems. Both Lyapunov-based conditions and distributed event-triggered mechanisms are established such that the estimation errors are convergent asymptotically. The proposed approach is further implemented to deal with the distributed observer-based controller design problem of multi-agent systems. Both the general framework is established and the conditions in the form of linear matrix inequalities are derived. Finally, the derived results are illustrated via two numerical examples from inverted pendulum robots and power systems.
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