H∞ Filter Design for Vehicle Tracking Under Delayed and Noisy Measurements

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.