Robust stability of event-triggered nonlinear moving horizon estimation
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866908990464589824 |
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| author | Krauss, Isabelle Lopez, Victor G. Müller, Matthias A. |
| author_facet | Krauss, Isabelle Lopez, Victor G. Müller, Matthias A. |
| contents | In this work, we propose an event-triggered moving horizon estimation (ET-MHE) scheme for the remote state estimation of general nonlinear systems. In the presented method, whenever an event is triggered, a single measurement is transmitted and the nonlinear MHE optimization problem is subsequently solved. If no event is triggered, the current state estimate is updated using an open-loop prediction based on the system dynamics. Moreover, we introduce a novel event-triggering rule under which we demonstrate robust global exponential stability of the ET-MHE scheme, assuming a suitable detectability condition is met. In addition, we show that with the adoption of a varying horizon length, a tighter bound on the estimation error can be achieved. Finally, we validate the effectiveness of the proposed method through two illustrative examples. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_04814 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Robust stability of event-triggered nonlinear moving horizon estimation Krauss, Isabelle Lopez, Victor G. Müller, Matthias A. Systems and Control In this work, we propose an event-triggered moving horizon estimation (ET-MHE) scheme for the remote state estimation of general nonlinear systems. In the presented method, whenever an event is triggered, a single measurement is transmitted and the nonlinear MHE optimization problem is subsequently solved. If no event is triggered, the current state estimate is updated using an open-loop prediction based on the system dynamics. Moreover, we introduce a novel event-triggering rule under which we demonstrate robust global exponential stability of the ET-MHE scheme, assuming a suitable detectability condition is met. In addition, we show that with the adoption of a varying horizon length, a tighter bound on the estimation error can be achieved. Finally, we validate the effectiveness of the proposed method through two illustrative examples. |
| title | Robust stability of event-triggered nonlinear moving horizon estimation |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2510.04814 |