Zaman gecikmeli sistemler için h-sonsuz tabanlı kestirim ve araç takip problemine uygulanması

ABSTRACTH∞ BASED FILTERING FOR SYSTEMS WITH TIMEDELAYS AND APPLICATION TO VEHICLETRACKINGMehmet Sami EZERCANM.S. in Electrical and Electronics EngineeringüSupervisor: Prof. Dr. Hitay OzbayAugust 2007In this thesis, the filtering problem for linear systems with time delay is studied.The standard mixed sensitivity problem is investigated and the duality betweenH∞ control problem and H∞ filtering problem is established. By using thisduality an alternative H∞ filtering method is proposed.An optimum H∞ filter is designed for single output system. However the pro-posed technique does not only work for single delay in the measurement but alsoworks for multiple delays in both state and measurement if the linear system hasmore than one outputs with delay. For this case, different suboptimal filters aredesigned.This work also deals with an important aspect of tracking problems appearingin many different applications, namely state estimation under delayed and noisymeasurements. A typical vehicle model is chosen to estimate the delayed stateand the performances of the designed filters are examined under several scenariosbased on different parameters such as amount of delays and disturbances.iiiKeywords: Time Delay Systems, State Estimation, H∞ Filtering, Vehicle Track-ingiv