Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
2014 American Control Conference
Event-based State Estimation of LinearDynamical Systems: Communication
Rate Analysis
Dawei Shi†, Tongwen Chen† and Ling Shi‡
† Department of Electrical and Computer Engineering, University of Alberta,Edmonton, AB, Canada
‡ Department of Electronic and Computer Engineering, Hong Kong Universityof Science and Technology, Kowloon, Hong Kong
www.ece.ualberta.ca/~dshi
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Event-based State Estimation
Figure 1 : Block diagram of the event-based remote estimation scenario.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Problem Description
• Discrete-time LTI process driven by white noise:
xk+1 = Axk + wk, (1)
where wk is zero-mean Gaussian with covariance Q ≥ 0.• The initial state x0 is Gaussian with E(x0) = µ0 and
covariance P0 ≥ 0.• Smart sensor:
yk = Cxk + vk, (2)
where vk ∈ Rm is zero-mean Gaussian with covarianceR > 0.
• Assume (A,Q) is stabilizable, and (C,A) is detectable.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Event-based Data Scheduler
• At each time instant k, the estimator provides a predictionxk|k−1 of xk and sends it to the scheduler.
• The scheduler computes γk according to:
γk =
0, if ‖yk − Cxk|k−1‖∞ ≤ δ1, otherwise (3)
• Only when γk = 1, the sensor transmits yk to the estimator.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Event-based State Estimator
• For this type of scenario, several estimates have beenproposed, e.g., [1]-[4].
• We consider a simple estimator of the form proposed in [5]:
xk|k−1 = Axk−1|k−1, (4)
xk|k = xk|k−1 + γkPkC>(R+ CPkC
>)−1(yk − Cxk|k−1),(5)
where Pk evolves according to
Pk = APk−1A> +Q− γkAPk−1C
>(CPk−1C> +R)−1CPk−1A
>.
[1] J. Wu, Q. Jia, K. Johansson, and L. Shi, Event-based sensor data scheduling: Trade-off between communication rate andestimation quality,” IEEE Transactions on Automatic Control, vol. 58, no. 4, pp. 1041-1045, 2013.
[2] J. Sijs and M. Lazar, “Event based state estimation with time synchronous updates,” IEEE Transactions on AutomaticControl, vol. 57, no. 10, pp. 2650-2655, 2012.
[3] D. Shi, T. Chen and L. Shi. “Event-triggered maximum likelihood state estimation,” Automatica, 50(1), pp. 247-254, 2014.
[4] D. Shi, T. Chen, and L. Shi, “An event-triggered approach to state estimation with multiple point-and set-valuedmeasurements,” Automatica, 50(6), pp. 1641–1648, 2014.
[5] S. Trimpe and R. D’Andrea, “An experimental demonstration of a distributed and event-based state estimation algorithm,” inProceedings of the 18th IFAC World Congress, Milano, Italy, 2011.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Communication Rate Analysis Problem
• Conditioned on the received information Ik−1, the predictionerror ek|k−1 := xk − xk|k−1 is zero-mean Gaussian withCov(ek|k−1|Ik−1) = Pk.
• Define zk := yk − Cxk|k−1. We have E(zk|Ik−1) = 0 andE(zkz
>k |Ik−1) := Φk = CPk|k−1C
> +R.
• Define Ω := z ∈ Rm| ‖z‖∞ ≤ δ. We have
E(γk|Ik−1) = 1−∫
Ω
fzk(z)dz, (6)
where fzk(z) = (2π)−m/2(detΦk)−1/2 exp (− 12z>Φ−1
k z).
• Objective: To provide lower and upper bounds for E(γk|Ik−1).
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Fundamental Lemma
• Define Ω0 := z| z>Φ−1k z ≤ r2 and Ω⊥0 := z| z>Φ−1
k z > r2.Since Ω0 ∪ Ω⊥0 = Rm,
∫Ω0fzk(z)dz = 1−
∫Ω⊥0
fzk(z)dz.
Lemma 1 ∫Ω⊥0
fzk(z)dz = Γ(m/2, r2/2)/Γ(m/2).
• Γ(m/2, r2/2) and Γ(m/2) can be iteratively calculatedaccording to Γ(z + 1) = zΓ(z), Γ(1/2) =
√π and
Γ(a, b) = (a− 1)Γ(a− 1, b) + ba−1 exp(−b),Γ(1/2, b) = 2
√π[1−Q(
√2b)],
Q(z) =∫∞z
1√2π
exp (−t2
2 )dt.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
The tightest inner and outer ellipsoidalapproximations of Ω
• Define Ωk,1 as the largest ellipsoid that is contained in Ω andsatisfies
Ωk,1 := z ∈ Rm| z>Φ−1k z ≤ δ2
k,1. (7)
• Define Ωk,1 as the smallest ellipsoid that contains Ω andsatisfies
Ωk,1 := z ∈ Rm| z>Φ−1k z ≤ δ2
k,1. (8)
Figure 2 : Relationship of Ωk,1, Ωk,1 and Ω (∂ denotes the boundary of a set) for the case ofm = 2.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Calculation of Ωk,1 and Ωk,1
• The value of δk,1 can be calculated as
δk,1 = maxzi∈δ,−δ, i∈1,2,...,m
√z>Φ−1
k z, (9)
where z = [z1, z2, ..., zm]>.
• To calculate δk,1, the following bi-level optimization problemneeds to be solved:
maxi z∗is.t. z∗i = maxz zi
s.t. z>(Φ−1k )z = 1.
(10)
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Calculation of Ωk,1 and Ωk,1cont’d
• Lower level problem:
maxz zis.t. z>(Φ−1
k )z = 1.(11)
Lemma 2
The optimal solution to problem (11) equals z∗i =√∑m
j=1 α2k,i,j ,
where αk,i,j =uk,i,j√λk,j
, uk,i,j is the element in the ith row and jth
column of Uk, U>k Φ−1k Uk = Λk and Λk := diagλk,1, λk,2, ..., λk,m.
• The optimal solution to problem (10) can be written asmaxi
√∑mi=1 α
2k,i,j .
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Main Result 1
Theorem 1For the state estimation scheme in Fig. 1 and the event-basedscheduler in (3), the expected sensor to estimator communicationrate E(γk|Ik−1) is bounded by
Γ(m/2, δ2k,1/2)
Γ(m/2)≤ E(γk|Ik−1) ≤
Γ(m/2, δ2k,1/2)
Γ(m/2), (12)
with δk,1 = maxzi∈δ,−δ, i∈1,2,...,m
√z>Φ−1
k z andδk,1 = δ
maxi∈1,2,...,m√∑m
j=1 α2k,i,j
.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Low complexity inner and outer ellipsoidalapproximations of Ω
• Define S ⊂ Rm as the largest sphere contained in Ω:
S := z ∈ Rm| z>z ≤ δ2, (13)
• Define S ⊂ Rm as the smallest sphere that contains Ω:
S := z ∈ Rm| z>z ≤ δ2m. (14)
• Based on S and S, define Ωk,2 ⊂ S as the largest ellipsoidthat is contained in S and satisfies
Ωk,2 := z ∈ Rm| z>Φ−1k z ≤ δ2
k,2, (15)
and define Ωk,2 as the smallest ellipsoid that contains S andsatisfies:
Ωk,2 := z ∈ Rm| z>Φ−1k z ≤ δ2
k,2. (16)
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Low complexity inner and outer ellipsoidalapproximations of Ω cont’d
Figure 3 : Relationship of S, S, Ωk,2, Ωk,2 and Ω (∂ denotes the boundary of a set) for thecase of m = 2.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Calculation of Ωk,2 and Ωk,2
Lemma 3
For all z ∈ Rm satisfying z>Φ−1k z = 1, 1/λk ≤ z>z ≤ 1/λk holds,
where λk and λk are the smallest and largest eigenvalues of Φ−1k ,
respectively.
• For z ∈ z ∈ Rm|z>Φ−1k z ≤ r2, r2/λk ≤ z>z ≤ r2/λk holds.
Therefore we have δk,2 =√λkδ and δk,2 =
√λkmδ.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Main Result 2
Theorem 2For the state estimation scheme in Fig. 1 and the event-basedscheduler in (3), the expected sensor to estimator communicationrate E(γk|Ik−1) is bounded by
Γ(m/2, δ2k,2/2)
Γ(m/2)≤ E(γk|Ik−1) ≤
Γ(m/2, δ2k,2/2)
Γ(m/2), (17)
with δk,2 =√mλkδ and δk,2 =
√λkδ.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Main Result 2 cont’d
Corollary 1
If the system in (1) is stable, the communication rate is boundedby
Γ(m/2, δ2/2)
Γ(m/2)≤ E(γk|Ik−1) ≤ Γ(m/2, δ2/2)
Γ(m/2), (18)
as k →∞, where δ =√mλ1δ, δ =
√λ2δ,
λ1 = maxeig[(CPC> +R)−1], P being the stabilizing solution tothe Riccati equation
P = APA> −APC>[CPC> +R]−1CPA> +Q,
and λ2 = mineig[(CPC> +R)−1], P being the stabilizingsolution to the Lyapunov equation
P = APA> +Q.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
A Numerical Example
Consider a second-order process of the form in (1) measured bya sensor with scalar-valued measurements (m = 1):
A =
[0.8 0.20.3 0.6
], Q =
[0.3618 0
0 0.3035
],
C = [0.218 1.041], R = 0.0910 and δ = 0.8.
0 50 100 150 200 250 3000.25
0.3
0.35
0.4
0.45
0.5
0.55
0.6
0.65
0.7
time, k
LB
E(γk|Ik)
UB
Figure 4 : Plot of E(γk|Ik−1) (UB and LB respectively denote the upper and lower boundsderived in Corollary 1).
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Discussions
• Lemma 1 can be applied to recover the communication rateanalysis results in [1].
• The proposed results can be extended to analyze thecommunication rate of general event-based estimationschemes
γk =
0, if yk ∈ Yk1, otherwise
as well.
• Inner and outer ellipsoidal approximations of Yk need to beconsidered.
[1] J. Wu, Q. Jia, K. Johansson, and L. Shi, Event-based sensor data scheduling: Trade-off between communication rate andestimation quality,” IEEE Transactions on Automatic Control, vol. 58, no. 4, pp. 1041-1045, 2013.
Event-basedState
Estimation,CommunicationRate Analysis
Dawei Shi,Tongwen Chenand Ling Shi
PreliminariesProblemDescription
Main ResultsFundamentalLemma
Main Result 1
Main Result 2
Example
Discussions
Acknowledg-ment
Acknowledgment
• Natural Sciences and Engineering Research Council(NSERC) of Canada
• Research Grants Council (RGC) of Hong Kong
• FGSR Travel Award, University of Alberta
Thank you!
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