Event-Triggered Filter Design Based on Average Measurement Output for Networked Unmanned Surface Vehicles

This brief addresses the event-triggered $H_{\infty }$ filtering problem for networked unmanned surface vehicles (USVs) subject to transmission delays. First, a novel event-triggered scheme based on the average measurement output (AMO) is proposed for scheduling the network transmissions of sensor measurements from a USV. Unlike traditional event-triggering conditions that adopt only the current measurement information, an average of consecutive sensor measurements over given time period $T$ is used to verify the triggering condition. This allows the triggering scheme to employ historical measurements and make more reasonable decisions regarding network transmissions. As a consequence, the proposed triggering scheme has the potential to avoid unexpected events arising from stochastic disturbance and noise or malicious attacks. To solve the filtering problem, AMO-based event-triggered $H_{\infty }$ filtering is then developed. Sufficient design criteria are also derived, from which the filter gain parameters can be readily determined. The efficacy of the proposed filter design method is illustrated via simulations using practical USV parameters.