Remote state estimator design under the round-Robin protocol

This paper focuses on the remote estimation problem for cyber-physical systems under the round-Robin protocol. A round-Robin protocol-based Kalman filter is deployed to estimate the real system states on the remote side. When sensor measurements are transmitted by communication networks, the round-Robin protocol with the zero-input-holder strategy is adopted to determine which sensor measurements are transmitted, reducing the communication burden and risk of being attacked. Both the protocol-based open-loop and closed-loop estimation scenarios are considered. The delay resulting from adopting the protocol with the zero-input-holder strategy is handled effectively. Corresponding filtering algorithms are proposed, and the estimation error covariance is proved to be converged. Finally, in addition to the effectiveness of the proposed round-Robin protocol-based filtering algorithms, simulation results are given to demonstrate that the performance of the proposed filtering algorithms can match that of the classical Kalman filter.