H∞ filter design for vehicle tracking under delayed and noisy measurements
Author
Ezercan, Sami
Özbay, Hitay
Date
2007-06Source Title
IEEE Intelligent Vehicles Symposium, Proceedings
Publisher
IEEE
Pages
1290 - 1295
Language
English
Type
Conference PaperItem Usage Stats
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Abstract
In many intelligent vehicles applications tracking plays an important role. This paper considers tracking of a vehicle under delayed and noisy measurements. For this purpose we design an H∞ optimal filter for linear systems with time delays in the state and output variables. By using the duality between filtering and control, the problem at hand is transformed to a robust controller design for systems with time delays. The skew Toeplitz method developed earlier for the robust control of infinite dimensional systems is used to solve the H∞ filtering problem. The results are illustrated with simulations and effects of the time delay on the tracking performance are demonstrated. ©2007 IEEE.
Keywords
Intelligent vehicle highway systemsNoisy measurements
Vehicles
Delay effects
Filtering
Nonlinear filters
Delay estimation
Intelligent vehicles
Target tracking
Target tracking
Position measurement
Linear systems
Control systems
Robust control