Browsing by Subject "State Estimation"

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    H (formula) based filtering for systems with time delays and application to vehicle tracking
    (2007) Ezercan, Mehmet Sami
    In this thesis, the filtering problem for linear systems with time delay is studied. The standard mixed sensitivity problem is investigated and the duality between H∞ control problem and H∞ filtering problem is established. By using this duality an alternative H∞ filtering method is proposed. An optimum H∞ filter is designed for single output system. However the proposed technique does not only work for single delay in the measurement but also works for multiple delays in both state and measurement if the linear system has more than one outputs with delay. For this case, different suboptimal filters are designed. This work also deals with an important aspect of tracking problems appearing in many different applications, namely state estimation under delayed and noisy measurements. A typical vehicle model is chosen to estimate the delayed state and the performances of the designed filters are examined under several scenarios based on different parameters such as amount of delays and disturbances.
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    ItemOpen Access
    H∞ Filter based target tracking under time delayed measurements
    (2015-09) Ateş, Ezgi
    In this thesis target traking problem for time delayed linear systems is studied. The standard mixed sensitivity problem is considered with time delayed continuous time processes. Using the duality between control and ltering methods, the H∞ control problem is converted to H∞ filtering problem and a new H∞ optimal filtering approach is proposed. To investigate state estimation for target tracking, a typi cal vehicle model moving in 1-D is used but the proposed method can be expanded for movements in 3-D. Delay in both process and measurement is considered. The estimation of the states and their performances are analyzed under different scenarios including change in delay, input pattern, noise parameters etc.The results obtained by proposed H∞ optimal filtering are compared with the results obtained by H2 filter and simulation results are shown.