Distributed Event‐Triggered Moving Horizon Estimation for Remote Monitoring of Bus Active Suspension Systems Over Relay Networks

ABSTRACT This paper addresses the problem of remote state estimation for active suspension systems (ASSs) in electric buses and proposes a novel distributed moving horizon estimation (DMHE) algorithm. To reduce computational complexity, the full‐vehicle ASS is decomposed into several interconnected low‐order subsystems. An event‐triggered mechanism (ETM) is introduced to reduce unnecessary data transmissions from the ASS to the remote monitoring platform. Besides, filter‐and‐forward relays are employed to improve communication reliability. On this basis, a distributed moving horizon estimator is constructed, which integrates measurements and relay data to estimate the system state. Furthermore, in view of the coupling between subsystems, a consensus cost is developed to improve estimation accuracy. Sufficient conditions are derived to guarantee the boundedness of the estimation error. Finally, the effectiveness of the proposed algorithm is verified through co‐simulations in CarSim/Simulink and experiments on a half‐vehicle ASS.