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< title > Robust and Optimal Sensor Fusion - Tikz Figures< / title >
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< body >
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< a accesskey = "h" href = "../index.html" > UP < / a >
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< h1 class = "title" > Robust and Optimal Sensor Fusion - Tikz Figures< / h1 >
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< div id = "table-of-contents" >
< h2 > Table of Contents< / h2 >
< div id = "text-table-of-contents" >
< ul >
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< li > < a href = "#org4e2a932" > 1. Sensor Fusion Architecture< / a > < / li >
< li > < a href = "#org1353381" > 2. Architecture used for \(\mathcal{H}_2\) synthesis of complementary filters< / a > < / li >
< li > < a href = "#org1189340" > 3. Sensor fusion architecture with sensor dynamics uncertainty< / a > < / li >
< li > < a href = "#org635364c" > 4. Uncertainty set of the super sensor dynamics< / a > < / li >
< li > < a href = "#org8471952" > 5. Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters< / a > < / li >
< li > < a href = "#orgd2abe63" > 6. Sensor fusion architecture with sensor dynamics uncertainty and noise< / a > < / li >
< li > < a href = "#org25fbe7c" > 7. Mixed H2/H-Infinity Synthesis< / a > < / li >
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< / ul >
< / div >
< / div >
< p >
Configuration file is accessible < a href = "config.html" > here< / a > .
< / p >
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< div id = "outline-container-org4e2a932" class = "outline-2" >
< h2 id = "org4e2a932" > < span class = "section-number-2" > 1< / span > Sensor Fusion Architecture< / h2 >
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< div class = "outline-text-2" id = "text-1" >
< div class = "org-src-container" >
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< pre class = "src src-latex" > \begin{tikzpicture}
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< / pre >
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< div id = "orge2c7af4" class = "figure" >
< p > < img src = "figs/sensor_fusion_noise_arch.png" alt = "sensor_fusion_noise_arch.png" / >
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< / p >
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< p > < span class = "figure-number" > Figure 1: < / span > Sensor Fusion Architecture (< a href = "./figs/sensor_fusion_noise_arch.png" > png< / a > , < a href = "./figs/sensor_fusion_noise_arch.pdf" > pdf< / a > ).< / p >
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< / div >
< / div >
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< div id = "outline-container-org1353381" class = "outline-2" >
< h2 id = "org1353381" > < span class = "section-number-2" > 2< / span > Architecture used for \(\mathcal{H}_2\) synthesis of complementary filters< / h2 >
< div class = "outline-text-2" id = "text-2" >
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< div class = "org-src-container" >
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< pre class = "src src-latex" > \begin{tikzpicture}
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< / pre >
< / div >
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< div id = "org8ddefad" class = "figure" >
< p > < img src = "figs/h_two_optimal_fusion.png" alt = "h_two_optimal_fusion.png" / >
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< / p >
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< p > < span class = "figure-number" > Figure 2: < / span > Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters (< a href = "./figs/h_two_optimal_fusion.png" > png< / a > , < a href = "./figs/h_two_optimal_fusion.pdf" > pdf< / a > ).< / p >
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< / div >
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< div id = "outline-container-org1189340" class = "outline-2" >
< h2 id = "org1189340" > < span class = "section-number-2" > 3< / span > Sensor fusion architecture with sensor dynamics uncertainty< / h2 >
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< pre class = "src src-latex" > \begin{tikzpicture}
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< / pre >
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< div id = "org6316ce9" class = "figure" >
< p > < img src = "figs/sensor_fusion_arch_uncertainty.png" alt = "sensor_fusion_arch_uncertainty.png" / >
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< / p >
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< p > < span class = "figure-number" > Figure 3: < / span > Sensor fusion architecture with sensor dynamics uncertainty (< a href = "./figs/sensor_fusion_arch_uncertainty.png" > png< / a > , < a href = "./figs/sensor_fusion_arch_uncertainty.pdf" > pdf< / a > ).< / p >
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< / div >
< / div >
< / div >
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< div id = "outline-container-org635364c" class = "outline-2" >
< h2 id = "org635364c" > < span class = "section-number-2" > 4< / span > Uncertainty set of the super sensor dynamics< / h2 >
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< pre class = "src src-latex" > \begin{tikzpicture}
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% Uncertainty Circle
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< / pre >
< / div >
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< div id = "orgdf90733" class = "figure" >
< p > < img src = "figs/uncertainty_set_super_sensor.png" alt = "uncertainty_set_super_sensor.png" / >
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< / p >
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< p > < span class = "figure-number" > Figure 4: < / span > Uncertainty region of the super sensor dynamics in the complex plane (solid circle), of the sensor 1 (dotted circle) and of the sensor 2 (dashed circle) (< a href = "./figs/uncertainty_set_super_sensor.png" > png< / a > , < a href = "./figs/uncertainty_set_super_sensor.pdf" > pdf< / a > ).< / p >
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< / div >
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< div id = "outline-container-org8471952" class = "outline-2" >
< h2 id = "org8471952" > < span class = "section-number-2" > 5< / span > Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters< / h2 >
< div class = "outline-text-2" id = "text-5" >
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< div class = "org-src-container" >
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< pre class = "src src-latex" > \begin{tikzpicture}
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< / pre >
< / div >
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< div id = "orgc7070d9" class = "figure" >
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< p > < img src = "figs/h_infinity_robust_fusion.png" alt = "h_infinity_robust_fusion.png" / >
< / p >
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< p > < span class = "figure-number" > Figure 5: < / span > Architecture used for \(\mathcal{H}_\infty\) synthesis of complementary filters (< a href = "./figs/h_infinity_robust_fusion.png" > png< / a > , < a href = "./figs/h_infinity_robust_fusion.pdf" > pdf< / a > ).< / p >
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< / div >
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< div id = "outline-container-orgd2abe63" class = "outline-2" >
< h2 id = "orgd2abe63" > < span class = "section-number-2" > 6< / span > Sensor fusion architecture with sensor dynamics uncertainty and noise< / h2 >
< div class = "outline-text-2" id = "text-6" >
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< div class = "org-src-container" >
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< pre class = "src src-latex" > \begin{tikzpicture}
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\draw[-> ] (add.east) -- ++(0.7, 0) node[above left]{$\hat{x}$};
\begin{scope}[on background layer]
\node[fit={($(add2.south-|x)+(-0.2, -0.4)$) ($(n1.north-|add.east)+(0.2, 0.3)$)}, fill=black!10!white, draw, dashed, inner sep=0pt] (supersensor) {};
\node[below left] at (supersensor.north east) {Super Sensor};
\node[block, fit={($(S1|-add1.south)+(-0.2, -0.2)$) ($(n1.north-|N1.east)+(0.2, 0.1)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor1) {};
\node[below right] at (sensor1.north west) {Sensor 1};
\node[block, fit={($(S2|-add2.south)+(-0.2, -0.2)$) ($(n2.north-|N2.east)+(0.2, 0.1)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor2) {};
\node[below right] at (sensor2.north west) {Sensor 2};
\end{scope}
\end{tikzpicture}
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< / pre >
< / div >
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< div id = "org2a7478b" class = "figure" >
< p > < img src = "figs/sensor_fusion_arch_full.png" alt = "sensor_fusion_arch_full.png" / >
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< / p >
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< p > < span class = "figure-number" > Figure 6: < / span > Sensor fusion architecture with sensor dynamics uncertainty (< a href = "./figs/sensor_fusion_arch_full.png" > png< / a > , < a href = "./figs/sensor_fusion_arch_full.pdf" > pdf< / a > ).< / p >
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< / div >
< / div >
< / div >
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< div id = "outline-container-org25fbe7c" class = "outline-2" >
< h2 id = "org25fbe7c" > < span class = "section-number-2" > 7< / span > Mixed H2/H-Infinity Synthesis< / h2 >
< div class = "outline-text-2" id = "text-7" >
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< div class = "org-src-container" >
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< pre class = "src src-latex" > \begin{tikzpicture}
\node[block={5.0cm}{5.0cm}, fill=black!20!white, dashed] (P) {};
\node[above] at (P.north) {$P(s)$};
\coordinate[] (inputw) at ($(P.south west)!0.85!(P.north west) + (-0.7, 0)$);
\coordinate[] (inputu) at ($(P.south west)!0.35!(P.north west) + (-0.7, 0)$);
\coordinate[] (output1) at ($(P.south east)!0.85!(P.north east) + ( 0.7, 0)$);
\coordinate[] (output2) at ($(P.south east)!0.7!(P.north east) + ( 0.7, 0)$);
\coordinate[] (output3) at ($(P.south east)!0.5!(P.north east) + ( 0.7, 0)$);
\coordinate[] (output4) at ($(P.south east)!0.35!(P.north east) + ( 0.7, 0)$);
\coordinate[] (outputv) at ($(P.south east)!0.15!(P.north east) + ( 0.7, 0)$);
\node[block, left=1.4 of output1] (W1){$W_1(s)$};
\node[block, left=1.4 of output2] (W2){$W_2(s)$};
\node[addb={+}{}{}{}{-}, left=1.6 of W1] (sub1) {};
\node[block, left=1.4 of output3] (N1){$N_1(s)$};
\node[block, left=1.4 of output4] (N2){$N_2(s)$};
\node[addb={+}{}{}{}{-}, left=1 of N1] (sub2) {};
\node[block, below=0.3 of P] (H2) {$H_2(s)$};
\draw[-> ] (inputw) node[above right]{$w$} -- (sub1.west);
\draw[-> ] (H2.west) -| ($(inputu)+(0.35, 0)$) node[above]{$u$} -- (N2.west);
\draw[-> ] (inputu-|sub1) node[branch]{} -- (sub1.south);
\draw[-> ] (inputu-|sub2) node[branch]{} -- (sub2.south);
\draw[-> ] (sub1|-W2) node[branch]{} -- (W2.west);
\draw[-> ] (sub1.east) -- (W1.west);
\draw[-> ] (sub2.east) -- (N1.west);
\draw[-> ] ($(sub1.west)+(-0.6, 0)$) node[branch](w_branch){} |- ($(outputv)+(-0.35, 0)$) node[above]{$v$} |- (H2.east);
\draw[-> ] (w_branch|-sub2) node[branch]{} -- (sub2.west);
\draw[-> ] (W1.east) -- (output1)node[above left]{$z_1$};
\draw[-> ] (W2.east) -- (output2)node[above left]{$z_2$};
\draw[-> ] (N1.east) -- (output3)node[above left]{$z_3$};
\draw[-> ] (N2.east) -- (output4)node[above left]{$z_4$};
\end{tikzpicture}
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< / pre >
< / div >
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< div id = "org855c0bc" class = "figure" >
< p > < img src = "figs/mixed_h2_hinf_synthesis.png" alt = "mixed_h2_hinf_synthesis.png" / >
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< / p >
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< p > < span class = "figure-number" > Figure 7: < / span > Mixed H2/H-Infinity Synthesis (< a href = "./figs/mixed_h2_hinf_synthesis.png" > png< / a > , < a href = "./figs/mixed_h2_hinf_synthesis.pdf" > pdf< / a > ).< / p >
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< / div >
< / div >
< / div >
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< / div >
< div id = "postamble" class = "status" >
< p class = "author" > Author: Thomas Dehaeze< / p >
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< p class = "date" > Created: 2020-08-17 lun. 17:49< / p >
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< / div >
< / body >
< / html >
