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.
H∞ Filter Design for Vehicle Tracking Under Delayed and Noisy Measurements
2007 IEEE Intelligent Vehicles Symposium ; 1290-1295
2007-06-01
977544 byte
Conference paper
Electronic Resource
English
H-Filter Design for Vehicle Tracking Under Delayed and Noisy Measurements
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