# Event-based State Estimation: An Emulation-based Approach

## TL;DR

This paper introduces an event-based state estimation method that reduces communication in networked control systems by transmitting data only when necessary, maintaining estimation accuracy and stability.

## Contribution

It presents a novel emulation-based approach for distributed state estimation with event-triggered communication, extending stability results to control systems.

## Key findings

- Reduces network communication significantly
- Maintains estimation accuracy comparable to centralized observers
- Validated through simulations and hardware experiments

## Abstract

An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor agents observe a dynamic process and sporadically transmit their measurements to estimator agents over a shared bus network. Local event-triggering protocols ensure that data is transmitted only when necessary to meet a desired estimation accuracy. The event-based design is shown to emulate the performance of a centralised state observer design up to guaranteed bounds, but with reduced communication. The stability results for state estimation are extended to the distributed control system that results when the local estimates are used for feedback control. Results from numerical simulations and hardware experiments illustrate the effectiveness of the proposed approach in reducing network communication.