摘要
Cyber-physical systems(CPSs)take on the characteristics of both multiple rates of information collection and processing and the dependency on information exchanges.The purpose of this paper is to develop a joint recursive filtering scheme that estimates both unknown inputs and system states for multi-rate CPSs with unknown inputs.In cyberspace,the information transmission between the local joint filter and the sensors is governed by an adaptive event-triggered strategy.Furthermore,the desired parameters of joint filters are determined by a set of algebraic matrix equations in a recursive way,and a sufficient condition verifying the boundedness of filtering error covariance is found by resorting to some algebraic operation.A state fusion estimation scheme that uses local state estimation is proposed based on the covariance intersection(CI)based fusion conception.Lastly,an illustrative example demonstrates the effectiveness of the proposed adaptive event-triggered recursive filtering algorithm.
基金
Project supported by the National Natural Science Foundation of China(Nos.62203306 and 61933007)
the Shanghai Pujiang Program,China(No.22PJ1412600)
the China Postdoctoral Science Foundation(No.2021M702195)。