Event-triggered Distributed Observer for Rigid Body Systems over Jointly Connected Acyclic Switching Networks

A drawback of the existing event-triggered distributed observer for a rigid body leader system over jointly connected switching networks is that the upper bounds of two key design parameters were only shown to exist without giving an explicit estimate of the upper bounds. In this paper, by assuming that the communication network is acyclic, we further show that these two design parameters can take any positive value by choosing other parameters appropriately. We will also apply our event-triggered distributed observer to the leader-following consensus problem of multiple rigid body systems and illustrate our design by a numerical example.