H∞ Filter based target tracking under time delayed measurements

Abstract

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.