[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-81551-en":3,"doc-seo-81551-105":30,"detail-sidebar-cat-0-en-105":92},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":21,"is_downloadable":21,"audit_status":21,"page_count":22,"language":23,"language_code":24,"site_id":25,"html_lang":24,"table_of_contents":26,"faqs":27,"seo_title":13,"seo_description":14,"update_tm":28,"read_time":29},81551,549758146520,"Patrick","https://ap-avatar.wpscdn.com/avatar/80002397d8c0411e94?_k=1775819394049821470",8,"Research & Report","Robust stability of event-triggered nonlinear moving horizon estimation","This work proposes an event-triggered moving horizon estimation (ET-MHE) method for remote state estimation of general nonlinear systems. Measurements are communicated only when events are triggered; each triggered event transmits a single measurement followed by solving the nonlinear MHE optimization. When no event occurs, estimation updates rely on open-loop prediction from system dynamics. A new triggering rule yields robust global exponential stability under a suitable detectability condition, and a varying horizon length improves the estimation error bound, validated by two examples.","arXiv :2510 .04814v4 [ ee ss . SY] 10 Jul 2026  \n.  \nRobust stability of event-triggered nonlinear moving horizon estimation  \nIsabelle Krauss1 , Victor G. Lopez1 (Member, IEEE), Matthias A. M ¨uller1 (Senior  \nMember, IEEE)  \n1 Leibniz University Hannover, Institute of Automatic Control, 30167 Hannover, Germany  \nCORRESPONDING AUTHOR: Isabelle Krauss (e-mail: [krauss@irt.uni-hannover.de](krauss@irt.uni-hannover.de))  \nThis work received funding from the European Research Council (ERC) under the European Union’s Horizon 2020 research and  \ninnovation programme (grant agreement No 948679) .  \nABSTRACT In this work, we propose an event-triggered moving horizon estimation (ET-MHE) scheme for the remote state estimation of general nonlinear systems. In the presented method, whenever an event is triggered, a single measurement is transmitted and the nonlinear MHE optimization problem is subsequently solved. If no event is triggered, the current state estimate is updated using an open-loop prediction based on the system dynamics. Moreover, we introduce a novel event-triggering rule under which we demonstrate robust global exponential stability of the ET-MHE scheme, assuming a suitable detectability condition is met. In addition, we show that with the adoption of a varying horizon length, a tighter bound on the estimation error can be achieved. Finally, we validate the effectiveness of the proposed method through two illustrative examples.  \nINDEX TERMS Moving horizon estimation, event-triggered state estimation, incremental system properties, nonlinear systems  \nI. INTRODUCTION  \nMoving horizon estimation (MHE) is a state estimation method that works by minimizing a cost function that considers past measurements. This method has proven to bea powerful solution to the state estimation problem due to its applicability to general nonlinear and potentially constrained systems subject to model inaccuracies and measurement noise. Furthermore, strong theoretical guarantees such as robust stability properties have been shown under a mild detectability condition (incremental input/output-to-state stability (i-IOSS)), cf. [4], [12], [15], [23], [28] .  \nIn certain applications, limited resources such as computation power, energy, and communication bandwidth present significant challenges. For example, networked control systems that are composed of numerous interconnected devices (e.g., sensors and actuators), often face bandwidth constraints that hinder simultaneous data transmission [36] . Moreover, in many applications it is desirable to conserve the energy of battery-operated devices [1] . Event-triggered methods can be employed to address these challenges by reducing the amount of unnecessary transmissions, see e.g. [11], [24] .  \nFor linear systems, significant progress has been made in event-triggered, optimization-based state estimation. An  \nevent-triggered maximum likelihood estimation method for detectable systems under Gaussian noise was proposed in [29] . Furthermore, in works such as [32],[35] and [21] eventtriggered moving horizon estimation (ET-MHE) schemes were developed that guarantee boundedness of the estimation error for observable systems subject to bounded disturbances. In the context of nonlinear systems, adaptations of the Kalman filter form the basis for several event-triggered state estimation methods. For instance, a cubature Kalman filter with a deterministic event-triggering rule was presented in [19] . Additionally, stochastic event-triggering mechanisms in unscented and cubature Kalman filters are proposed in [22] and [20], where stochastic stability of the estimator is shown under certain observability assumptions. Other eventtriggered state estimation methods for specific classes of nonlinear systems have also been proposed in the literature. For instance, state-affine systems are considered in [30], while an event-triggered impulse observer for nonlinear Lipschitz systems is presented in [9] . For nonlinear s","cbCaiew8z7UQ7PEP","https://ap.wps.com/l/cbCaiew8z7UQ7PEP","pdf",2221029,5,1,16,"English","en",105,"# Introduction\n## Moving horizon estimation basics\n## Communication and resource constraints\n## Prior event-triggered estimation work\n## Motivation for single-measurement transmission\n## Proposed ET-MHE contribution","[{\"question\":\"What is the core idea of the proposed ET-MHE scheme?\",\"answer\":\"The scheme transmits only the most recent measurement when an event is triggered, then solves the nonlinear MHE optimization. If no event is triggered, it updates the state estimate using an open-loop prediction based on the system dynamics.\"},{\"question\":\"How does the event-triggering rule support stability guarantees?\",\"answer\":\"It is designed so that the ET-MHE scheme achieves robust global exponential stability, provided a suitable detectability condition is satisfied.\"},{\"question\":\"Why is using a varying horizon length beneficial?\",\"answer\":\"Adopting a varying horizon length enables a tighter bound on the estimation error compared with a fixed horizon approach.\"}]",1784174249,40,{"code":4,"msg":31,"data":32},"ok",{"site_id":25,"language":24,"slug":33,"title":13,"keywords":34,"description":14,"schema_data":35,"social_meta":87,"head_meta":89,"extra_data":91,"updated_unix":28},"robust-stability-of-event-triggered-nonlinear-moving-horizon-estimation","",{"@graph":36,"@context":86},[37,54,69],{"@type":38,"itemListElement":39},"BreadcrumbList",[40,44,48,51],{"item":41,"name":42,"@type":43,"position":21},"https://docshare.wps.com","Home","ListItem",{"item":45,"name":46,"@type":43,"position":47},"https://docshare.wps.com/document/","Document",2,{"item":49,"name":12,"@type":43,"position":50},"https://docshare.wps.com/document/research-report/",3,{"item":52,"name":13,"@type":43,"position":53},"https://docshare.wps.com/document/robust-stability-of-event-triggered-nonlinear-moving-horizon-estimation/81551/",4,{"url":52,"name":13,"@type":55,"author":56,"headline":13,"publisher":58,"fileFormat":61,"inLanguage":24,"description":14,"dateModified":62,"datePublished":63,"encodingFormat":61,"isAccessibleForFree":64,"interactionStatistic":65},"DigitalDocument",{"name":9,"@type":57},"Person",{"url":41,"name":59,"@type":60},"DocShare","Organization","application/pdf","2026-07-25","2026-07-16",true,{"@type":66,"interactionType":67,"userInteractionCount":20},"InteractionCounter",{"@type":68},"ViewAction",{"@type":70,"mainEntity":71},"FAQPage",[72,78,82],{"name":73,"@type":74,"acceptedAnswer":75},"What is the core idea of the proposed ET-MHE scheme?","Question",{"text":76,"@type":77},"The scheme transmits only the most recent measurement when an event is triggered, then solves the nonlinear MHE optimization. If no event is triggered, it updates the state estimate using an open-loop prediction based on the system dynamics.","Answer",{"name":79,"@type":74,"acceptedAnswer":80},"How does the event-triggering rule support stability guarantees?",{"text":81,"@type":77},"It is designed so that the ET-MHE scheme achieves robust global exponential stability, provided a suitable detectability condition is satisfied.",{"name":83,"@type":74,"acceptedAnswer":84},"Why is using a varying horizon length beneficial?",{"text":85,"@type":77},"Adopting a varying horizon length enables a tighter bound on the estimation error compared with a fixed horizon approach.","https://schema.org",{"og:url":52,"og:type":88,"og:title":13,"og:site_name":59,"og:description":14},"article",{"robots":90,"canonical":52},"index,follow",{"doc_id":7,"site_id":25},{"code":4,"msg":5,"data":93},[94,98,102,106,110,115,119,122,127,130,134],{"id":21,"doc_module":4,"doc_module_name":46,"category_name":95,"show_sort_weight":96,"slug":97},"Story & Novel",90,"story-novel",{"id":47,"doc_module":4,"doc_module_name":46,"category_name":99,"show_sort_weight":100,"slug":101},"Literature",80,"literature",{"id":53,"doc_module":4,"doc_module_name":46,"category_name":103,"show_sort_weight":104,"slug":105},"Exam",70,"exam",{"id":20,"doc_module":4,"doc_module_name":46,"category_name":107,"show_sort_weight":108,"slug":109},"Comic",60,"comic",{"id":111,"doc_module":4,"doc_module_name":46,"category_name":112,"show_sort_weight":113,"slug":114},6,"Technology",50,"technology",{"id":116,"doc_module":4,"doc_module_name":46,"category_name":117,"show_sort_weight":29,"slug":118},7,"Healthcare","healthcare",{"id":11,"doc_module":4,"doc_module_name":46,"category_name":12,"show_sort_weight":120,"slug":121},30,"research-report",{"id":123,"doc_module":4,"doc_module_name":46,"category_name":124,"show_sort_weight":125,"slug":126},9,"Religion & Spirituality",20,"religion-spirituality",{"id":125,"doc_module":4,"doc_module_name":46,"category_name":128,"show_sort_weight":125,"slug":129},"World Cup","world-cup",{"id":131,"doc_module":4,"doc_module_name":46,"category_name":132,"show_sort_weight":131,"slug":133},10,"Lifestyle","lifestyle",{"id":135,"doc_module":4,"doc_module_name":46,"category_name":136,"show_sort_weight":20,"slug":137},19,"General","general"]