Edge-Based Sender-Receiver Event-Triggered Schemes for Distributed Filtering

This paper investigates the distributed filtering problem for a class of nonlinear systems under edge-based event-triggered (ET) communication. A dynamic edge-based ET mechanism for the sender-receiver ET scheme is proposed. The triggering depends on the relative state information over the edge between the sender and receiver nodes. Compared with the existing synchronous transmission protocols, the sender-receiver ET scheme leads to a more flexible asynchronous communication model by utilizing edge-related triggering parameters. Moreover, this allows the receiver node to be privileged to receive or reject the incoming state information, which is more conducive to reducing the transmission of redundant state information from the sender. If the receiver’s privilege to reject information is not considered, the sender-receiver scheme is further simplified to the sender ET scheme. In the sender ET scheme, the triggering of an edge is only determined by the sender node of the corresponding edge. Both edge-based ET schemes are applied to a unified fully distributed filter design. It is proved that the estimation errors of the proposed distributed filtering algorithm under both schemes are exponentially bounded in the mean square. A simulation example concerning target tracking is given to demonstrate the validity of the main results.