ABSTRACT
This chapter is concerned with the event-triggered fusion estimation problem for multi-rate systems. The multi-rate systems under consideration include several sensor nodes with different sampling rates. The event-triggered robust fusion estimation problem is firstly considered for a class of uncertain multi-rate systems with stochastic nonlinearities and coloured measurement noise. A new augmentation approach is proposed by which the multi-rate system is transformed into a single-rate system. Sufficient conditions are established for the existence of upper bounds of the local filtering error covariances, and then the filter gains are parameterized according to certain matrix recursions such that the upper bounds are minimized. Subsequently, for the local state estimates, a new fusion estimation scheme is proposed with the help of the CI method and the consistency of the proposed CI-based fusion estimation scheme is shown. Moreover, the event-triggered fusion estimation problem is also studied for a class of multi-rate systems subject to sensor degradations. A set of random variables obeying known probability distributions are used to characterize the phenomenon of the sensor degradations. By using similar analysis techniques, the corresponding event-triggered filters are designed. Finally, some simulation examples are exploited to illustrate the main results of this chapter.
