H∞ filter design for vehicle tracking under delayed and noisy measurements

Date
2007-06
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Source Title
IEEE Intelligent Vehicles Symposium, Proceedings
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Electronic ISSN
Publisher
IEEE
Volume
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Pages
1290 - 1295
Language
English
Type
Conference Paper
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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.

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Keywords
Intelligent vehicle highway systems, Noisy measurements, Vehicles, Delay effects, Filtering, Nonlinear filters, Delay estimation, Intelligent vehicles, Target tracking, Target tracking, Position measurement, Linear systems, Control systems, Robust control
Citation
Published Version (Please cite this version)