Event-Triggered Robust Integrated Observer Design for Nonlinear Interconnected System Based on Multiple Intermediate Estimators

In this brief, an event-triggered robust integrated observer is designed to estimate states and unknown inputs simultaneously for nonlinear interconnected systems with measurement uncertainty. With a novel system augmentation approach, measurement noise and unknown inputs are firstly immersed into virtual state vectors. Second, utilizing derivative estimation of system measurement, performance and robustness oriented sampling strategy is formulated. Then, sufficient conditions in LMI form is established to achieve observer and event-triggered mechanism co-design using the concept of attractive ellipsoid. Finally, a simulation example is provided to verify the effectiveness of the proposed event-triggered observer.