Event-Triggered Discrete-Time Cubature Kalman Filter for Nonlinear Dynamical Systems With Packet Dropout

We propose a design framework for discrete-time event-triggered cubature Kalman filter for nonlinear dynamic systems over a wireless network with packet dropout. The design ensures that the prediction error covariance is bounded when packet delivery rate has a lower bound. We then show that the estimation error can be guaranteed to be bounded by properly tuning the threshold of the event-triggered mechanism. An example is given to illustrate the filter's performance.