In this work, a dynamic system is controlled by multiple sensor-actuatoragents, each of them commanding and observing parts of the system's input andoutput. The different agents sporadically exchange data with each other via acommon bus network according to local event-triggering protocols. From thesedata, each agent estimates the complete dynamic state of the system and usesits estimate for feedback control. We propose a synthesis procedure fordesigning the agents' state estimators and the event triggering thresholds. Theresulting distributed and event-based control system is guaranteed to be stableand to satisfy a predefined estimation performance criterion. The approach isapplied to the control of a vehicle platoon, where the method's trade-offbetween performance and communication, and the scalability in the number ofagents is demonstrated.
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