Distributed Observers for Linear Time-Invariant Systems With Time-Varying Delays: A Switching Event-Triggered Approach

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Shuqi Li, Feng Xiao, Aiping Wang, Yuanshi Zheng

Published: 2025, Last Modified: 25 Jan 2026IEEE Trans. Cybern. 2025EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: The state estimation problem of linear time-invariant (LTI) systems is investigated in this article. Distributed observers are designed to estimate the complete states of LTI systems under time-varying delays. A class of edge-based switching event-triggered mechanisms (SETMs) are designed for distributed observers to continuously estimate the states of the target system by the discrete relative state information, reducing the consumption of communication/computation resources significantly. The positive lower bounds of intersampling times are guaranteed, which further avoids Zeno behaviors. A unified framework for the stability analysis of the estimation error system under the SETM is presented, and the sufficient conditions for the asymptotic state estimation of the distributed observer are derived. Finally, numerical simulations are given to illustrate the effectiveness of the proposed method.