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matlab/index.org
@ -75,7 +75,7 @@ Let's consider the sensor fusion architecture shown on figure [[fig:fusion_two_n
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$\tilde{n}_1$ and $\tilde{n}_2$ are normalized white noise:
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#+name: eq:normalized_noise
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\begin{equation}
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\Phi_{\tilde{n}_1}(\omega) = \Phi_{\tilde{n}_1}(\omega) = 1
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\Phi_{\tilde{n}_1}(\omega) = \Phi_{\tilde{n}_2}(\omega) = 1
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\end{equation}
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#+name: fig:fusion_two_noisy_sensors_weights
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@ -1027,7 +1027,7 @@ If $H_1(s)$ and $H_2(s)$ are designed such that
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The maximum phase shift due to dynamic uncertainty at frequency $\omega$ will be $\Delta\phi_\text{max}(\omega)$.
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** Requirements as an $\mathcal{H}_\infty$ norm
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We know try to express this requirement in terms of an $\mathcal{H}_\infty$ norm.
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We now try to express this requirement in terms of an $\mathcal{H}_\infty$ norm.
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Let's define one weight $w_\phi(s)$ that represents the maximum wanted phase uncertainty:
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\[ |w_{\phi}(j\omega)|^{-1} \approx \sin(\Delta\phi_{\text{max}}(\omega)), \quad \forall\omega \]
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@ -1738,7 +1738,7 @@ We define the generalized plant that will be used for the mixed synthesis.
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#+end_src
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** Mixed $\mathcal{H}_2$ / $\mathcal{H}_\infty$ Synthesis
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The mixed $\mathcal{H}_2$/$\mathcal{H}_\infty$ synthesis is performed below.
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The mixed $\mathcal{H}_2/\mathcal{H}_\infty$ synthesis is performed below.
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#+begin_src matlab
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Nmeas = 1; Ncon = 1; Nz2 = 2;
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@ -1793,7 +1793,7 @@ The obtained complementary filters are shown in Fig. [[fig:comp_filters_mixed_sy
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#+end_src
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#+NAME: fig:comp_filters_mixed_synthesis
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#+CAPTION: Obtained complementary filters after mixed $\mathcal{H}_2$/$\mathcal{H}_\infty$ synthesis ([[./figs/comp_filters_mixed_synthesis.png][png]], [[./figs/comp_filters_mixed_synthesis.pdf][pdf]])
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#+CAPTION: Obtained complementary filters after mixed $\mathcal{H}_2/\mathcal{H}_\infty$ synthesis ([[./figs/comp_filters_mixed_synthesis.png][png]], [[./figs/comp_filters_mixed_synthesis.pdf][pdf]])
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[[file:figs/comp_filters_mixed_synthesis.png]]
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** Obtained Super Sensor's noise
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@ -1824,7 +1824,7 @@ The PSD and CPS of the super sensor's noise are shown in Fig. [[fig:psd_super_se
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#+end_src
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#+NAME: fig:psd_super_sensor_mixed_syn
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#+CAPTION: Power Spectral Density of the Super Sensor obtained with the mixed $\mathcal{H}_2$/$\mathcal{H}_\infty$ synthesis ([[./figs/psd_super_sensor_mixed_syn.png][png]], [[./figs/psd_super_sensor_mixed_syn.pdf][pdf]])
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#+CAPTION: Power Spectral Density of the Super Sensor obtained with the mixed $\mathcal{H}_2/\mathcal{H}_\infty$ synthesis ([[./figs/psd_super_sensor_mixed_syn.png][png]], [[./figs/psd_super_sensor_mixed_syn.pdf][pdf]])
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[[file:figs/psd_super_sensor_mixed_syn.png]]
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@ -1854,7 +1854,7 @@ The PSD and CPS of the super sensor's noise are shown in Fig. [[fig:psd_super_se
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#+end_src
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#+NAME: fig:cps_super_sensor_mixed_syn
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#+CAPTION: Cumulative Power Spectrum of the Super Sensor obtained with the mixed $\mathcal{H}_2$/$\mathcal{H}_\infty$ synthesis ([[./figs/cps_super_sensor_mixed_syn.png][png]], [[./figs/cps_super_sensor_mixed_syn.pdf][pdf]])
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#+CAPTION: Cumulative Power Spectrum of the Super Sensor obtained with the mixed $\mathcal{H}_2/\mathcal{H}_\infty$ synthesis ([[./figs/cps_super_sensor_mixed_syn.png][png]], [[./figs/cps_super_sensor_mixed_syn.pdf][pdf]])
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[[file:figs/cps_super_sensor_mixed_syn.png]]
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** Obtained Super Sensor's Uncertainty
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@ -2285,7 +2285,7 @@ The PSD and CPS of the super sensor's noise obtained with the CVX toolbox and =h
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#+end_src
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#+NAME: fig:psd_compare_cvx_h2i
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#+CAPTION: Power Spectral Density of the Super Sensor obtained with the mixed $\mathcal{H}_2$/$\mathcal{H}_\infty$ synthesis ([[./figs/psd_compare_cvx_h2i.png][png]], [[./figs/psd_compare_cvx_h2i.pdf][pdf]])
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#+CAPTION: Power Spectral Density of the Super Sensor obtained with the mixed $\mathcal{H}_2/\mathcal{H}_\infty$ synthesis ([[./figs/psd_compare_cvx_h2i.png][png]], [[./figs/psd_compare_cvx_h2i.pdf][pdf]])
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[[file:figs/psd_compare_cvx_h2i.png]]
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@ -2317,7 +2317,7 @@ The PSD and CPS of the super sensor's noise obtained with the CVX toolbox and =h
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#+end_src
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#+NAME: fig:cps_compare_cvx_h2i
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#+CAPTION: Cumulative Power Spectrum of the Super Sensor obtained with the mixed $\mathcal{H}_2$/$\mathcal{H}_\infty$ synthesis ([[./figs/cps_compare_cvx_h2i.png][png]], [[./figs/cps_compare_cvx_h2i.pdf][pdf]])
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#+CAPTION: Cumulative Power Spectrum of the Super Sensor obtained with the mixed $\mathcal{H}_2/\mathcal{H}_\infty$ synthesis ([[./figs/cps_compare_cvx_h2i.png][png]], [[./figs/cps_compare_cvx_h2i.pdf][pdf]])
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[[file:figs/cps_compare_cvx_h2i.png]]
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** Obtained Super Sensor's Uncertainty
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@ -3509,7 +3509,7 @@ Since the input signal $x$ and the instrumental noise $n$ are incoherent:
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|\Phi_{\hat{x}}(\omega)| = |\Phi_n(\omega)| + |\Phi_x(\omega)|
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\end{equation}
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From equations [[eq:coh_bis]] and [[eq:incoherent_noise]], we finally obtain
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From equations eqref:eq:coh_bis and eqref:eq:incoherent_noise, we finally obtain
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#+begin_important
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#+NAME: eq:noise_psd
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\begin{equation}
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@ -4238,6 +4238,254 @@ The generated complementary filters using $\mathcal{H}_\infty$ and the analytica
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- the analytical formula provides a very simple way to generate the complementary filters (and thus the controller), they could even be used to tune the controller online using the parameters $\alpha$ and $\omega_0$. However, these formula have the property that $|H_H|$ and $|H_L|$ are symmetrical with the frequency $\omega_0$ which may not be desirable.
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- while the $\mathcal{H}_\infty$ synthesis of the complementary filters is not as straightforward as using the analytical formula, it provides a more optimized procedure to obtain the complementary filters
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* Bibliography :ignore:
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* Real World Example of optimal sensor fusion
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** Introduction :ignore:
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cite:moore19_capac_instr_sensor_fusion_high_bandw_nanop
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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** Sensor Noise :noexport:
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#+begin_src matlab
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A1 = 19.13; % [uV2/Hz]
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A2 = 0.1632; % [uV2/Hz]
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A3 = 6.847; % [uV2/Hz]
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wnc = 3057; % [rad]
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wx = 7929; % [rad/s]
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Fx = 1/(1 - s/wx)/(1 - s/wx);
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[A B C D] = butter(2, 0.5, 'low');
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Fx = ss(A, B, C, D);
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Sq = A3*wnc/s + A3;
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Sx = A1*Fx + A2;
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#+end_src
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#+begin_src matlab :exports none
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freqs = logspace(1, 5, 1000);
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(Sq, freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(Sx, freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Magnitude');
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#+end_src
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** Matlab Code
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Take an Accelerometer and a Geophone both measuring the absolute motion of a structure.
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Parameters of the inertial sensors.
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#+begin_src matlab
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m_acc = 0.01;
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k_acc = 1e6;
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c_acc = 20;
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m_geo = 1;
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k_geo = 1e3;
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c_geo = 10;
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#+end_src
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Transfer function from motion to measurement
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For the accelerometer.
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The measurement is the relative motion structure/inertial mass:
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\[ \frac{d}{\ddot{w}} = \frac{-m}{ms^2 + cs + k} \]
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For the geophone.
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The measurement is the relative velocity structure/inertial mass:
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\[ \frac{\dot{d}}{\dot{w}} = \frac{-ms^2}{ms^2 + cs + k} \]
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#+begin_src matlab
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G_acc = -m_acc/(m_acc*s^2 + c_acc*s + k_acc); % [m/(m/s^2)]
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G_geo = -m_geo*s^2/(m_geo*s^2 + c_geo*s + k_geo); % [m/s/m/s]
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#+end_src
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Suppose the measure of the relative motion for the accelerometer (capacitive sensor for instance) has a white noise characteristic:
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Suppose the measure of the relative velocity (current flowing through the coil) has a white noise characteristic:
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Define the noise characteristics
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#+begin_src matlab
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n = 1; w0 = 2*pi*5e3; G0 = 5e-12; G1 = 1e-15; Gc = G0/2;
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L_acc = (((1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (G0/Gc)^(1/n))/((1/G1)^(1/n)*(1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (1/Gc)^(1/n)))^n;
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n = 1; w0 = 2*pi*5e3; G0 = 1e-6; G1 = 1e-8; Gc = G0/2;
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L_geo = (((1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (G0/Gc)^(1/n))/((1/G1)^(1/n)*(1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (1/Gc)^(1/n)))^n;
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#+end_src
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Transfer function of the conversion to obtain the velocity:
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#+begin_src matlab
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C_acc = (-k_acc/m_acc/(2*pi + s));
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C_geo = tf(-1);
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#+end_src
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Let's plot the noise of both sensors:
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#+begin_src matlab :exports none
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freqs = logspace(-1, 4, 1000);
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(L_acc*C_acc, freqs, 'Hz'))), 'DisplayName', 'Acc');
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plot(freqs, abs(squeeze(freqresp(L_geo*C_geo, freqs, 'Hz'))), 'DisplayName', 'Geo');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Noise ASD [$m/s/\sqrt{Hz}$]');
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legend('location', 'northeast')
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#+end_src
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Dynamics of both sensors
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#+begin_src matlab :exports none
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freqs = logspace(-1, 4, 1000);
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(s*G_acc*C_acc, freqs, 'Hz'))), 'DisplayName', 'Acc');
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plot(freqs, abs(squeeze(freqresp(G_geo*C_geo, freqs, 'Hz'))), 'DisplayName', 'Geo');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Magnitude');
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legend('location', 'northeast')
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#+end_src
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** Time domain signals
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#+begin_src matlab
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Fs = 1e4; % Sampling Frequency [Hz]
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Ts = 1/Fs; % Sampling Time [s]
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t = 0:Ts:10; % Time Vector [s]
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#+end_src
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#+begin_src matlab
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n_acc = lsim(L_acc*C_acc, sqrt(Fs/2)*randn(length(t), 1), t); % [m/s]
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n_geo = lsim(L_geo*C_geo, sqrt(Fs/2)*randn(length(t), 1), t); % [m/s]
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#+end_src
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#+begin_src matlab
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figure;
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hold on;
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plot(t, n_geo)
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plot(t, n_acc)
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hold off;
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#+end_src
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** H2 Synthesis
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#+begin_src matlab
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N1 = L_acc*C_acc;
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N2 = L_geo*C_geo;
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#+end_src
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#+begin_src matlab
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bodeFig({N1, N2}, logspace(-1, 5, 1000))
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#+end_src
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#+begin_src matlab
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P = [0 N2 1;
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N1 -N2 0];
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#+end_src
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And we do the $\mathcal{H}_2$ synthesis using the =h2syn= command.
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#+begin_src matlab
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[H1, ~, gamma] = h2syn(P, 1, 1);
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#+end_src
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Finally, we define $H_2(s) = 1 - H_1(s)$.
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#+begin_src matlab
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H2 = 1 - H1;
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#+end_src
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#+begin_src matlab
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bodeFig({H1, H2}, struct('phase', true))
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#+end_src
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#+begin_src matlab
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n_acc_filt = lsim(H1, n_acc, t);
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n_geo_filt = lsim(H2, n_geo, t);
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#+end_src
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#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
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data2orgtable([rms(n_acc), rms(n_geo), rms(n_acc_filt + n_geo_filt)]', {'Accelerometer', 'Geophone', 'Super Sensor'}, {'RMS'}, ' %.1e ');
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#+end_src
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#+RESULTS:
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| | RMS |
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|---------------+---------|
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| Accelerometer | 9.7e-05 |
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| Geophone | 5.9e-05 |
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| Super Sensor | 1.5e-05 |
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#+begin_src matlab
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figure;
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hold on;
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plot(t, n_geo)
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plot(t, n_acc)
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plot(t, n_acc_filt + n_geo_filt)
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hold off;
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#+end_src
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** Signal and Noise
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Velocity Signal:
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#+begin_src matlab
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v = lsim(1/(1 + s/2/pi/2), 1e-4*sqrt(Fs/2)*randn(length(t), 1), t);
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v = 1e-4 * sin(2*pi*100*t);
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#+end_src
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#+begin_src matlab
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v_acc = lsim(s*G_acc*C_acc, v, t) + n_acc;
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v_geo = lsim(G_geo*C_geo, v, t) + n_geo;
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#+end_src
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#+begin_src matlab
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v_ss = lsim(H1, v_acc, t) + lsim(H2, v_geo, t);
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#+end_src
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#+begin_src matlab
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figure;
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hold on;
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plot(t, v_geo)
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plot(t, v_acc)
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plot(t, v_ss)
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plot(t, v, 'k--')
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hold off;
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xlim([1, 1+0.1])
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#+end_src
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** PSD and CPS
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#+begin_src matlab
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nx = length(n_acc);
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na = 16;
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win = hanning(floor(nx/na));
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[p_acc, f] = pwelch(n_acc, win, 0, [], Fs);
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[p_geo, ~] = pwelch(n_geo, win, 0, [], Fs);
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[p_ss, ~] = pwelch(n_acc_filt + n_geo_filt, win, 0, [], Fs);
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#+end_src
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#+begin_src matlab :exports none
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figure;
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hold on;
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plot(f, p_acc, 'DisplayName', 'Accelerometer');
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plot(f, p_geo, 'DisplayName', 'Geophone');
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plot(f, p_ss, 'DisplayName', 'Super Sensor');
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hold off;
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set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
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xlabel('Frequency [Hz]');
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ylabel('Power Spectral Density $\left[\frac{(m/s)^2}{Hz}\right]$');
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legend('location', 'southwest');
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#+end_src
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** Transfer function of the super sensor
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#+begin_src matlab
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bodeFig({s*C_acc*G_acc, C_geo*G_geo, s*C_acc*G_acc*H1+C_geo*G_geo*H2}, struct('phase', true))
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#+end_src
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* Bibliography :ignore:
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bibliographystyle:unsrt
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bibliography:ref.bib
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@ -181,4 +181,19 @@
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year = 1998,
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doi = {10.1063/1.1149013},
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url = {https://doi.org/10.1063/1.1149013},
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}
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}
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@article{moore19_capac_instr_sensor_fusion_high_bandw_nanop,
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author = {Steven Ian Moore and Andrew J. Fleming and Yuen Kuan Yong},
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title = {Capacitive Instrumentation and Sensor Fusion for
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High-Bandwidth Nanopositioning},
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journal = {IEEE Sensors Letters},
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volume = 3,
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number = 8,
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pages = {1-3},
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year = 2019,
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doi = {10.1109/lsens.2019.2933065},
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url = {https://doi.org/10.1109/lsens.2019.2933065},
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tags = {complementary filters},
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}
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@ -143,22 +143,21 @@ The goal is to design $H_1(s)$ and $H_2(s)$ such that the effect of the noise so
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And the goal is the minimize the Root Mean Square (RMS) value of $n$:
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#+name: eq:rms_value_estimation
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\begin{equation}
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\sigma_{n} = \sqrt{\int_0^\infty \Phi_{\hat{n}}(\omega) d\omega}
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\sigma_{n} = \sqrt{\int_0^\infty \Phi_{\hat{n}}(\omega) d\omega} = \left\| \begin{matrix} \hat{G}_1^{-1} N_1 H_1 \\ \hat{G}_2^{-1} N_2 H_2 \end{matrix} \right\|_2
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\end{equation}
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The goal is to minimize the $\mathcal{H}_2$ norm between $w$ and $[z_1\ z_2]$:
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\begin{equation}
|
||||
\left\| \begin{matrix} w/z_1 \\ w/z_2 \end{matrix} \right\|_2 = \left\| \begin{matrix} \hat{G}_1^{-1} N_1 (1 - H_2) \\ \hat{G}_2^{-1} N_2 H_2 \end{matrix} \right\|_2
|
||||
\end{equation}
|
||||
|
||||
By defining:
|
||||
\begin{equation}
|
||||
H_1 = 1 - H_2
|
||||
\end{equation}
|
||||
Thus, the goal is to design $H_1(s)$ and $H_2(s)$ such that $H_1(s) + H_2(s) = 1$ and such that $\left\| \begin{matrix} \hat{G}_1^{-1} N_1 H_1 \\ \hat{G}_2^{-1} N_2 H_2 \end{matrix} \right\|_2$ is minimized.
|
||||
|
||||
\begin{equation}
|
||||
\left\| \begin{matrix} w/z_1 \\ w/z_2 \end{matrix} \right\|_2 = \left\| \begin{matrix} \hat{G}_1^{-1} N_1 H_1 \\ \hat{G}_2^{-1} N_2 H_2 \end{matrix} \right\|_2 = \sqrt{\int_0^\infty \left| H_1 \hat{G}_1^{-1} N_1 \right|^2 + \left| H_2 \hat{G}_2^{-1} N_2 \right|^2 d\omega} = \sigma_n
|
||||
\begin{pmatrix}
|
||||
z_1 \\ z_2 \\ v
|
||||
\end{pmatrix} = \begin{bmatrix}
|
||||
\hat{G}_1^{-1} N_1 & -\hat{G}_1^{-1} N_1 \\
|
||||
0 & \hat{G}_2^{-1} N_2 \\
|
||||
1 & 0
|
||||
\end{bmatrix} \begin{pmatrix}
|
||||
w \\ u
|
||||
\end{pmatrix}
|
||||
\end{equation}
|
||||
|
||||
The $\mathcal{H}_2$ synthesis of the complementary filters thus minimized the RMS value of the super sensor noise.
|
||||
@ -177,6 +176,21 @@ The $\mathcal{H}_2$ synthesis of the complementary filters thus minimized the RM
|
||||
|
||||
** Representation of Sensor Dynamical Uncertainty
|
||||
|
||||
** Sensor Fusion Architecture
|
||||
\begin{equation}
|
||||
\hat{x} = \left( H_1 \hat{G}_1^{-1} (1 + w_1 \Delta_1) G_1 + H_2 \hat{G}_2^{-1} (1 + w_2 \Delta_2) G_2 \right) x
|
||||
\end{equation}
|
||||
with $\Delta_i$ is any transfer function satisfying $\| \Delta_i \|_\infty < 1$.
|
||||
|
||||
Suppose the model inversion is equal to the nominal model:
|
||||
\begin{equation}
|
||||
\hat{G}_i = G_i
|
||||
\end{equation}
|
||||
|
||||
\begin{equation}
|
||||
\hat{x} = \left( 1 + H_1 w_1 \Delta_1 + H_2 w_2 \Delta_2 \right) x
|
||||
\end{equation}
|
||||
|
||||
#+name: fig:sensor_fusion_arch_uncertainty
|
||||
#+caption: Figure caption
|
||||
#+attr_latex: :scale 1
|
||||
@ -184,6 +198,8 @@ The $\mathcal{H}_2$ synthesis of the complementary filters thus minimized the RM
|
||||
|
||||
** Super Sensor Dynamical Uncertainty
|
||||
|
||||
The uncertainty set of the transfer function from $\hat{x}$ to $x$ at frequency $\omega$ is bounded in the complex plane by a circle centered on 1 and with a radius equal to $|w_1(j\omega) H_1(j\omega)| + |w_2(j\omega) H_2(j\omega)|$.
|
||||
|
||||
#+name: fig:uncertainty_set_super_sensor
|
||||
#+caption: Figure caption
|
||||
#+attr_latex: :scale 1
|
||||
@ -191,6 +207,8 @@ The $\mathcal{H}_2$ synthesis of the complementary filters thus minimized the RM
|
||||
|
||||
** $\mathcal{H_\infty}$ Synthesis of Complementary Filters
|
||||
|
||||
In order to minimize the super sensor dynamical uncertainty
|
||||
|
||||
#+name: fig:h_infinity_robust_fusion
|
||||
#+caption: Figure caption
|
||||
#+attr_latex: :scale 1
|
||||
|
||||
BIN
paper/paper.pdf
BIN
paper/paper.pdf
Binary file not shown.
136
paper/paper.tex
136
paper/paper.tex
@ -1,4 +1,4 @@
|
||||
% Created 2020-08-17 lun. 18:06
|
||||
% Created 2020-09-22 mar. 09:51
|
||||
% Intended LaTeX compiler: pdflatex
|
||||
\documentclass[conference]{IEEEtran}
|
||||
\usepackage[utf8]{inputenc}
|
||||
@ -22,7 +22,6 @@
|
||||
\usepackage{siunitx}
|
||||
\IEEEoverridecommandlockouts
|
||||
\usepackage{cite}
|
||||
\usepackage{showframe}
|
||||
\usepackage{amsmath,amssymb,amsfonts}
|
||||
\usepackage{algorithmic}
|
||||
\usepackage{graphicx}
|
||||
@ -34,8 +33,9 @@
|
||||
\usepackage{import, hyperref}
|
||||
\renewcommand{\citedash}{--}
|
||||
\def\BibTeX{{\rm B\kern-.05em{\sc i\kern-.025em b}\kern-.08em T\kern-.1667em\lower.7ex\hbox{E}\kern-.125emX}}
|
||||
\usepackage{showframe}
|
||||
\author{\IEEEauthorblockN{Dehaeze Thomas} \IEEEauthorblockA{\textit{European Synchrotron Radiation Facility} \\ Grenoble, France\\ \textit{Precision Mechatronics Laboratory} \\ \textit{University of Liege}, Belgium \\ thomas.dehaeze@esrf.fr }\and \IEEEauthorblockN{Collette Christophe} \IEEEauthorblockA{\textit{BEAMS Department}\\ \textit{Free University of Brussels}, Belgium\\ \textit{Precision Mechatronics Laboratory} \\ \textit{University of Liege}, Belgium \\ ccollett@ulb.ac.be }}
|
||||
\date{2020-08-17}
|
||||
\date{2020-09-22}
|
||||
\title{Robust and Optimal Sensor Fusion}
|
||||
\begin{document}
|
||||
|
||||
@ -50,15 +50,18 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis
|
||||
\end{IEEEkeywords}
|
||||
|
||||
\section{Introduction}
|
||||
\label{sec:orgc7e68f1}
|
||||
\label{sec:org2c6d9ef}
|
||||
\label{sec:introduction}
|
||||
|
||||
\section{Optimal Super Sensor Noise: \(\mathcal{H}_2\) Synthesis}
|
||||
\label{sec:org9dea05a}
|
||||
\label{sec:org5aa0717}
|
||||
\label{sec:optimal_fusion}
|
||||
|
||||
\subsection{Sensor Model}
|
||||
\label{sec:org8f1053d}
|
||||
|
||||
\subsection{Sensor Fusion Architecture}
|
||||
\label{sec:org02189c8}
|
||||
\label{sec:orgc40deb4}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
@ -66,11 +69,70 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis
|
||||
\caption{\label{fig:sensor_fusion_noise_arch}Figure caption}
|
||||
\end{figure}
|
||||
|
||||
Let note \(\Phi\) the PSD.
|
||||
\(\tilde{n}_1\) and \(\tilde{n}_2\) are white noise with unitary power spectral density:
|
||||
\begin{equation}
|
||||
\Phi_{\tilde{n}_i}(\omega) = 1
|
||||
\end{equation}
|
||||
|
||||
\begin{equation}
|
||||
\hat{x} = \left( H_1 \hat{G}_1^{-1} G_1 + H_2 \hat{G}_2^{-1} G_2 \right) x + \left( H_1 \hat{G}_1^{-1} N_1 \right) \tilde{n}_1 + \left( H_2 \hat{G}_2^{-1} N_2 \right) \tilde{n}_2
|
||||
\end{equation}
|
||||
|
||||
Suppose the sensor dynamical model \(\hat{G}_i\) is perfect:
|
||||
\begin{equation}
|
||||
\hat{G}_i = G_i
|
||||
\end{equation}
|
||||
|
||||
Complementary Filters
|
||||
\begin{equation}
|
||||
H_1(s) + H_2(s) = 1
|
||||
\end{equation}
|
||||
|
||||
|
||||
\begin{equation}
|
||||
\hat{x} = x + \left( H_1 \hat{G}_1^{-1} N_1 \right) \tilde{n}_1 + \left( H_2 \hat{G}_2^{-1} N_2 \right) \tilde{n}_2
|
||||
\end{equation}
|
||||
|
||||
Perfect dynamics + filter noise
|
||||
|
||||
|
||||
\subsection{Super Sensor Noise}
|
||||
\label{sec:org75bf123}
|
||||
\label{sec:orgf4b6ca9}
|
||||
|
||||
Let's note \(n\) the super sensor noise.
|
||||
|
||||
Its PSD is determined by:
|
||||
\begin{equation}
|
||||
\Phi_n(\omega) = \left| H_1 \hat{G}_1^{-1} N_1 \right|^2 + \left| H_2 \hat{G}_2^{-1} N_2 \right|^2
|
||||
\end{equation}
|
||||
|
||||
\subsection{\(\mathcal{H}_2\) Synthesis of Complementary Filters}
|
||||
\label{sec:org2372e4d}
|
||||
\label{sec:org5773772}
|
||||
|
||||
The goal is to design \(H_1(s)\) and \(H_2(s)\) such that the effect of the noise sources \(\tilde{n}_1\) and \(\tilde{n}_2\) has the smallest possible effect on the noise \(n\) of the estimation \(\hat{x}\).
|
||||
|
||||
And the goal is the minimize the Root Mean Square (RMS) value of \(n\):
|
||||
\begin{equation}
|
||||
\label{eq:rms_value_estimation}
|
||||
\sigma_{n} = \sqrt{\int_0^\infty \Phi_{\hat{n}}(\omega) d\omega} = \left\| \begin{matrix} \hat{G}_1^{-1} N_1 H_1 \\ \hat{G}_2^{-1} N_2 H_2 \end{matrix} \right\|_2
|
||||
\end{equation}
|
||||
|
||||
Thus, the goal is to design \(H_1(s)\) and \(H_2(s)\) such that \(H_1(s) + H_2(s) = 1\) and such that \(\left\| \begin{matrix} \hat{G}_1^{-1} N_1 H_1 \\ \hat{G}_2^{-1} N_2 H_2 \end{matrix} \right\|_2\) is minimized.
|
||||
|
||||
\begin{equation}
|
||||
\begin{pmatrix}
|
||||
z_1 \\ z_2 \\ v
|
||||
\end{pmatrix} = \begin{bmatrix}
|
||||
\hat{G}_1^{-1} N_1 & -\hat{G}_1^{-1} N_1 \\
|
||||
0 & \hat{G}_2^{-1} N_2 \\
|
||||
1 & 0
|
||||
\end{bmatrix} \begin{pmatrix}
|
||||
w \\ u
|
||||
\end{pmatrix}
|
||||
\end{equation}
|
||||
|
||||
The \(\mathcal{H}_2\) synthesis of the complementary filters thus minimized the RMS value of the super sensor noise.
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
@ -79,17 +141,33 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis
|
||||
\end{figure}
|
||||
|
||||
\subsection{Example}
|
||||
\label{sec:orgf58d3c3}
|
||||
\label{sec:orged06a27}
|
||||
|
||||
\subsection{Robustness Problem}
|
||||
\label{sec:org25143ef}
|
||||
\label{sec:org62b375f}
|
||||
|
||||
\section{Robust Sensor Fusion: \(\mathcal{H}_\infty\) Synthesis}
|
||||
\label{sec:orge0ab922}
|
||||
\label{sec:orgef03e7c}
|
||||
\label{sec:robust_fusion}
|
||||
|
||||
\subsection{Representation of Sensor Dynamical Uncertainty}
|
||||
\label{sec:orgde1ca0e}
|
||||
\label{sec:org9c9762b}
|
||||
|
||||
\subsection{Sensor Fusion Architecture}
|
||||
\label{sec:org9572e70}
|
||||
\begin{equation}
|
||||
\hat{x} = \left( H_1 \hat{G}_1^{-1} (1 + w_1 \Delta_1) G_1 + H_2 \hat{G}_2^{-1} (1 + w_2 \Delta_2) G_2 \right) x
|
||||
\end{equation}
|
||||
with \(\Delta_i\) is any transfer function satisfying \(\| \Delta_i \|_\infty < 1\).
|
||||
|
||||
Suppose the model inversion is equal to the nominal model:
|
||||
\begin{equation}
|
||||
\hat{G}_i = G_i
|
||||
\end{equation}
|
||||
|
||||
\begin{equation}
|
||||
\hat{x} = \left( 1 + H_1 w_1 \Delta_1 + H_2 w_2 \Delta_2 \right) x
|
||||
\end{equation}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
@ -98,7 +176,9 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis
|
||||
\end{figure}
|
||||
|
||||
\subsection{Super Sensor Dynamical Uncertainty}
|
||||
\label{sec:org7f51f8d}
|
||||
\label{sec:orgb9ee83e}
|
||||
|
||||
The uncertainty set of the transfer function from \(\hat{x}\) to \(x\) at frequency \(\omega\) is bounded in the complex plane by a circle centered on 1 and with a radius equal to \(|w_1(j\omega) H_1(j\omega)| + |w_2(j\omega) H_2(j\omega)|\).
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
@ -107,7 +187,9 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis
|
||||
\end{figure}
|
||||
|
||||
\subsection{\(\mathcal{H_\infty}\) Synthesis of Complementary Filters}
|
||||
\label{sec:org04f04f3}
|
||||
\label{sec:orgf4e3c8e}
|
||||
|
||||
In order to minimize the super sensor dynamical uncertainty
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
@ -116,14 +198,14 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis
|
||||
\end{figure}
|
||||
|
||||
\subsection{Example}
|
||||
\label{sec:orgbeb8891}
|
||||
\label{sec:org4f663bc}
|
||||
|
||||
\section{Optimal and Robust Sensor Fusion: Mixed \(\mathcal{H}_2/\mathcal{H}_\infty\) Synthesis}
|
||||
\label{sec:orgf739e93}
|
||||
\label{sec:org150b612}
|
||||
\label{sec:optimal_robust_fusion}
|
||||
|
||||
\subsection{Sensor Fusion Architecture}
|
||||
\label{sec:org8fde0b7}
|
||||
\label{sec:org9bc69b7}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
@ -132,10 +214,10 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis
|
||||
\end{figure}
|
||||
|
||||
\subsection{Synthesis Objective}
|
||||
\label{sec:org91a1cb3}
|
||||
\label{sec:orgbc5ac30}
|
||||
|
||||
\subsection{Mixed \(\mathcal{H}_2/\mathcal{H}_\infty\) Synthesis}
|
||||
\label{sec:orgcd9ab73}
|
||||
\label{sec:org541ef02}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
@ -144,30 +226,30 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis
|
||||
\end{figure}
|
||||
|
||||
\subsection{Example}
|
||||
\label{sec:orgc2f161d}
|
||||
\label{sec:org046c2e2}
|
||||
|
||||
\section{Experimental Validation}
|
||||
\label{sec:org9c8a2db}
|
||||
\label{sec:org1bb9cff}
|
||||
\label{sec:experimental_validation}
|
||||
|
||||
\subsection{Experimental Setup}
|
||||
\label{sec:orga1abc9b}
|
||||
\label{sec:org2c63393}
|
||||
|
||||
\subsection{Sensor Noise and Dynamical Uncertainty}
|
||||
\label{sec:org9d92c2b}
|
||||
\label{sec:orgb0c6496}
|
||||
|
||||
\subsection{Mixed \(\mathcal{H}_2/\mathcal{H}_\infty\) Synthesis}
|
||||
\label{sec:orgbda5f50}
|
||||
\label{sec:orgfb3986f}
|
||||
|
||||
\subsection{Super Sensor Noise and Dynamical Uncertainty}
|
||||
\label{sec:orgb1aa4c9}
|
||||
\label{sec:orgfd5c11e}
|
||||
|
||||
\section{Conclusion}
|
||||
\label{sec:org468c862}
|
||||
\label{sec:orgda418fa}
|
||||
\label{sec:conclusion}
|
||||
|
||||
\section{Acknowledgment}
|
||||
\label{sec:org07d8818}
|
||||
\label{sec:orgabdae67}
|
||||
|
||||
\bibliography{ref}
|
||||
\end{document}
|
||||
|
||||
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Before Width: | Height: | Size: 46 KiB After Width: | Height: | Size: 46 KiB |
Binary file not shown.
219
tikz/index.org
219
tikz/index.org
@ -30,39 +30,44 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
#+begin_src latex :file sensor_fusion_noise_arch.pdf
|
||||
\begin{tikzpicture}
|
||||
\node[branch] (x) at (0, 0);
|
||||
\node[block, above right=1.0 and 0.5 of x](G1){$G_1(s)$};
|
||||
\node[block, below right=1.0 and 0.5 of x](G2){$G_2(s)$};
|
||||
\node[addb, right=0.4 of G1](add1){};
|
||||
\node[addb, right=0.4 of G2](add2){};
|
||||
\node[block, right=1.1 of add1](H1){$H_1(s)$};
|
||||
\node[block, right=1.1 of add2](H2){$H_2(s)$};
|
||||
\node[block, above=0.5 of add1](N1){$N_1(s)$};
|
||||
\node[block, above=0.5 of add2](N2){$N_2(s)$};
|
||||
\node[addb, right=4.8 of x](add){};
|
||||
\node[addb, above right=1.0 and 0.5 of x](add1){};
|
||||
\node[addb, below right=1.0 and 0.5 of x](add2){};
|
||||
\node[block, right=0.4 of add1](G1){$G_1$};
|
||||
\node[block, right=0.4 of add2](G2){$G_2$};
|
||||
\node[block, right=0.7 of G1](Ginv1){$\hat{G}_1^{-1}$};
|
||||
\node[block, right=0.7 of G2](Ginv2){$\hat{G}_2^{-1}$};
|
||||
\node[block, right=0.6 of Ginv1](H1){$H_1$};
|
||||
\node[block, right=0.6 of Ginv2](H2){$H_2$};
|
||||
\node[block, above=0.5 of add1](N1){$N_1$};
|
||||
\node[block, above=0.5 of add2](N2){$N_2$};
|
||||
\node[addb, right=5.2 of x](add){};
|
||||
|
||||
\draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center);
|
||||
\draw[->] (x.center) |- (G1.west);
|
||||
\draw[->] (x.center) |- (G2.west);
|
||||
\draw[->] (G1.east) -- (add1.west);
|
||||
\draw[->] (G2.east) -- (add2.west);
|
||||
\draw[->] (N1.south) -- (add1.north)node[above right]{$n_1$};
|
||||
\draw[->] (N2.south) -- (add2.north)node[above right]{$n_2$};
|
||||
\draw[<-] (N1.north) -- ++(0, 0.6)node[below right](n1){$\tilde{n}_1$};
|
||||
\draw[<-] (N2.north) -- ++(0, 0.6)node[below right](n2){$\tilde{n}_2$};
|
||||
\draw[->] (add1.east) -- (H1.west)node[above left]{$\hat{x}_1$};
|
||||
\draw[->] (add2.east) -- (H2.west)node[above left]{$\hat{x}_2$};
|
||||
\draw[->] (x.center) |- (add1.west);
|
||||
\draw[->] (x.center) |- (add2.west);
|
||||
\draw[->] (add1.east) -- (G1.west);
|
||||
\draw[->] (add2.east) -- (G2.west);
|
||||
\draw[->] (N1.south) -- (add1.north)node[above left]{$n_1$};
|
||||
\draw[->] (N2.south) -- (add2.north)node[above left]{$n_2$};
|
||||
\draw[<-] (N1.north)node[above left](n1){$\tilde{n}_1$} -- ++(0, 0.4);
|
||||
\draw[<-] (N2.north)node[above left](n2){$\tilde{n}_2$} -- ++(0, 0.4);
|
||||
\draw[->] (G1.east) -- (Ginv1.west)node[above left]{$v_1$};
|
||||
\draw[->] (G2.east) -- (Ginv2.west)node[above left]{$v_2$};
|
||||
\draw[->] (Ginv1.east) -- (H1.west)node[above left]{$\hat{x}_1$};
|
||||
\draw[->] (Ginv2.east) -- (H2.west)node[above left]{$\hat{x}_2$};
|
||||
\draw[->] (H1) -| (add.north);
|
||||
\draw[->] (H2) -| (add.south);
|
||||
\draw[->] (add.east) -- ++(0.7, 0) node[above left]{$\hat{x}$};
|
||||
|
||||
\begin{scope}[on background layer]
|
||||
\node[fit={($(G2.south-|x)+(-0.2, -0.3)$) ($(n1.north east-|add.east)+(0.2, 0.3)$)}, fill=black!10!white, draw, dashed, inner sep=0pt] (supersensor) {};
|
||||
\node[fit={($(G2.south-|x)+(-0.2, -0.3)$) ($(n1.north east-|add.east)+(0.2, 0.2)$)}, fill=black!10!white, draw, dashed, inner sep=0pt] (supersensor) {};
|
||||
\node[below left] at (supersensor.north east) {Super Sensor};
|
||||
|
||||
\node[fit={($(G1.south west)+(-0.3, -0.1)$) ($(n1.north east)+(0.1, 0.1)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor1) {};
|
||||
\node[below right] at (sensor1.north west) {Sensor 1};
|
||||
\node[fit={($(G2.south west)+(-0.3, -0.1)$) ($(n2.north east)+(0.1, 0.1)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor2) {};
|
||||
\node[below right] at (sensor2.north west) {Sensor 2};
|
||||
\node[fit={($(G1.south east)+(0.15, -0.15)$) ($(n1.north west)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor1) {};
|
||||
\node[below left] at (sensor1.north east) {Sensor 1};
|
||||
|
||||
\node[fit={($(G2.south east)+(0.15, -0.15)$) ($(n2.north west)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor2) {};
|
||||
\node[below left] at (sensor2.north east) {Sensor 2};
|
||||
\end{scope}
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
@ -75,8 +80,8 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
* Architecture used for $\mathcal{H}_2$ synthesis of complementary filters
|
||||
#+begin_src latex :file h_two_optimal_fusion.pdf
|
||||
\begin{tikzpicture}
|
||||
\node[block={4.0cm}{2.5cm}, fill=black!20!white, dashed] (P) {};
|
||||
\node[above] at (P.north) {$P(s)$};
|
||||
\node[block={3.5cm}{2.5cm}, fill=black!20!white, dashed] (P) {};
|
||||
\node[above] at (P.north) {$P$};
|
||||
|
||||
\coordinate[] (inputw) at ($(P.south west)!0.75!(P.north west) + (-0.7, 0)$);
|
||||
\coordinate[] (inputu) at ($(P.south west)!0.35!(P.north west) + (-0.7, 0)$);
|
||||
@ -85,11 +90,11 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
\coordinate[] (output2) at ($(P.south east)!0.35!(P.north east) + ( 0.7, 0)$);
|
||||
\coordinate[] (outputv) at ($(P.south east)!0.1!(P.north east) + ( 0.7, 0)$);
|
||||
|
||||
\node[block, left=1.4 of output1] (N1){$N_1(s)$};
|
||||
\node[block, left=1.4 of output2] (N2){$N_2(s)$};
|
||||
\node[block, left=0.9 of output1] (N1){$N_1$};
|
||||
\node[block, left=0.9 of output2] (N2){$N_2$};
|
||||
\node[addb={+}{}{}{}{-}, left=of N1] (sub) {};
|
||||
|
||||
\node[block, below=0.3 of P] (H2) {$H_2(s)$};
|
||||
\node[block, below=0.3 of P] (H2) {$H_2$};
|
||||
|
||||
\draw[->] (inputw) node[above right]{$w$} -- (sub.west);
|
||||
\draw[->] (H2.west) -| ($(inputu)+(0.35, 0)$) node[above]{$u$} -- (N2.west);
|
||||
@ -110,27 +115,37 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
#+begin_src latex :file sensor_fusion_arch_uncertainty.pdf
|
||||
\begin{tikzpicture}
|
||||
\node[branch] (x) at (0, 0);
|
||||
\node[addb, above right=0.8 and 4 of x](add1){};
|
||||
\node[addb, below right=0.8 and 4 of x](add2){};
|
||||
\node[block, above left=0.2 and 0.1 of add1](delta1){$\Delta_1(s)$};
|
||||
\node[block, above left=0.2 and 0.1 of add2](delta2){$\Delta_2(s)$};
|
||||
\node[block, left=0.5 of delta1](W1){$w_1(s)$};
|
||||
\node[block, left=0.5 of delta2](W2){$w_2(s)$};
|
||||
\node[block, right=0.5 of add1](H1){$H_1(s)$};
|
||||
\node[block, right=0.5 of add2](H2){$H_2(s)$};
|
||||
\node[addb, right=6 of x](add){};
|
||||
\node[branch, above right=0.8 and 0.2 of x](b1){};
|
||||
\node[branch, below right=0.8 and 0.2 of x](b2){};
|
||||
\node[block, above right=0.3 and 0.3 of b1](W1){$w_1$};
|
||||
\node[block, above right=0.3 and 0.3 of b2](W2){$w_2$};
|
||||
\node[block, right=0.3 of W1](delta1){$\Delta_1$};
|
||||
\node[block, right=0.3 of W2](delta2){$\Delta_2$};
|
||||
\node[addb, right=0.3 of b1-|delta1](add1){};
|
||||
\node[addb, right=0.3 of b2-|delta2](add2){};
|
||||
\node[block, right=0.3 of add1](G1){$\hat{G}_1$};
|
||||
\node[block, right=0.3 of add2](G2){$\hat{G}_2$};
|
||||
\node[block, right=0.7 of G1](Ginv1){$\hat{G}_1^{-1}$};
|
||||
\node[block, right=0.7 of G2](Ginv2){$\hat{G}_2^{-1}$};
|
||||
\node[block, right=0.4 of Ginv1](H1){$H_1$};
|
||||
\node[block, right=0.4 of Ginv2](H2){$H_2$};
|
||||
\node[addb, right=7 of x](add){};
|
||||
|
||||
\draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center);
|
||||
\draw[->] (x.center) |- (add1.west);
|
||||
\draw[->] (x.center) |- (add2.west);
|
||||
\draw[->] ($(add1-|W1.west)+(-0.5, 0)$)node[branch](S1){} |- (W1.west);
|
||||
\draw[->] ($(add2-|W2.west)+(-0.5, 0)$)node[branch](S1){} |- (W2.west);
|
||||
\draw[->] (add1.east) -- (G1.west);
|
||||
\draw[->] (add2.east) -- (G2.west);
|
||||
\draw[->] (b1) |- (W1.west);
|
||||
\draw[->] (b2) |- (W2.west);
|
||||
\draw[->] (W1.east) -- (delta1.west);
|
||||
\draw[->] (W2.east) -- (delta2.west);
|
||||
\draw[->] (delta1.east) -| (add1.north);
|
||||
\draw[->] (delta2.east) -| (add2.north);
|
||||
\draw[->] (add1.east) -- (H1.west);
|
||||
\draw[->] (add2.east) -- (H2.west);
|
||||
\draw[->] (G1.east) -- (Ginv1.west)node[above left]{$v_1$};
|
||||
\draw[->] (G2.east) -- (Ginv2.west)node[above left]{$v_2$};
|
||||
\draw[->] (Ginv1.east) -- (H1.west);
|
||||
\draw[->] (Ginv2.east) -- (H2.west);
|
||||
\draw[->] (H1.east) -| (add.north);
|
||||
\draw[->] (H2.east) -| (add.south);
|
||||
\draw[->] (add.east) -- ++(0.7, 0) node[above left]{$\hat{x}$};
|
||||
@ -139,10 +154,10 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
\node[fit={($(H2.south-|x)+(-0.2, -0.3)$) ($(delta1.north east-|add.east)+(0.2, 0.4)$)}, fill=black!10!white, draw, dashed, inner sep=0pt] (supersensor) {};
|
||||
\node[below left] at (supersensor.north east) {Super Sensor};
|
||||
|
||||
\node[block, fit={($(W1.north-|S1)+(-0.2, 0.2)$) ($(add1.south east)+(0.2, -0.3)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor1) {};
|
||||
\node[above right] at (sensor1.south west) {Sensor 1};
|
||||
\node[block, fit={($(W2.north-|S1)+(-0.2, 0.2)$) ($(add2.south east)+(0.2, -0.3)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor2) {};
|
||||
\node[above right] at (sensor2.south west) {Sensor 2};
|
||||
\node[block, fit={($(b1|-W1.north) + (-0.15, 0.15)$) ($(G1.south east)+(0.15, -0.15)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor1) {};
|
||||
\node[below left] at (sensor1.north east) {Sensor 1};
|
||||
\node[block, fit={($(b2|-W2.north) + (-0.15, 0.15)$) ($(G2.south east)+(0.15, -0.15)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor2) {};
|
||||
\node[below left] at (sensor2.north east) {Sensor 2};
|
||||
\end{scope}
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
@ -196,8 +211,8 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
* Architecture used for $\mathcal{H}_\infty$ synthesis of complementary filters
|
||||
#+begin_src latex :file h_infinity_robust_fusion.pdf
|
||||
\begin{tikzpicture}
|
||||
\node[block={4.0cm}{2.5cm}, fill=black!20!white, dashed] (P) {};
|
||||
\node[above] at (P.north) {$P(s)$};
|
||||
\node[block={3.5cm}{2.5cm}, fill=black!20!white, dashed] (P) {};
|
||||
\node[above] at (P.north) {$P$};
|
||||
|
||||
\coordinate[] (inputw) at ($(P.south west)!0.75!(P.north west) + (-0.7, 0)$);
|
||||
\coordinate[] (inputu) at ($(P.south west)!0.35!(P.north west) + (-0.7, 0)$);
|
||||
@ -206,11 +221,11 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
\coordinate[] (output2) at ($(P.south east)!0.35!(P.north east) + ( 0.7, 0)$);
|
||||
\coordinate[] (outputv) at ($(P.south east)!0.1!(P.north east) + ( 0.7, 0)$);
|
||||
|
||||
\node[block, left=1.4 of output1] (W1){$W_1(s)$};
|
||||
\node[block, left=1.4 of output2] (W2){$W_2(s)$};
|
||||
\node[block, left=0.9 of output1] (W1){$W_1$};
|
||||
\node[block, left=0.9 of output2] (W2){$W_2$};
|
||||
\node[addb={+}{}{}{}{-}, left=of W1] (sub) {};
|
||||
|
||||
\node[block, below=0.3 of P] (H2) {$H_2(s)$};
|
||||
\node[block, below=0.3 of P] (H2) {$H_2$};
|
||||
|
||||
\draw[->] (inputw) node[above right]{$w$} -- (sub.west);
|
||||
\draw[->] (H2.west) -| ($(inputu)+(0.35, 0)$) node[above]{$u$} -- (W2.west);
|
||||
@ -231,48 +246,50 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
#+begin_src latex :file sensor_fusion_arch_full.pdf
|
||||
\begin{tikzpicture}
|
||||
\node[branch] (x) at (0, 0);
|
||||
\node[addb, above right=1.2 and 3.5 of x](add1){};
|
||||
\node[addb, below right=1.2 and 3.5 of x](add2){};
|
||||
\node[block, above left=0.2 and 0 of add1](delta1){$\Delta_1(s)$};
|
||||
\node[block, above left=0.2 and 0 of add2](delta2){$\Delta_2(s)$};
|
||||
\node[block, left=0.4 of delta1](W1){$w_1(s)$};
|
||||
\node[block, left=0.4 of delta2](W2){$w_2(s)$};
|
||||
\node[addb, right=0.4 of add1](addn1){};
|
||||
\node[addb, right=0.4 of add2](addn2){};
|
||||
\node[block, above=0.5 of addn1](N1) {$N_1(s)$};
|
||||
\node[block, above=0.5 of addn2](N2) {$N_2(s)$};
|
||||
\node[block, right=1.1 of addn1](H1){$H_1(s)$};
|
||||
\node[block, right=1.1 of addn2](H2){$H_2(s)$};
|
||||
\node[addb, right=7.0 of x](add){};
|
||||
\node[addb, above right=1.0 and 0.6 of x](addn1){};
|
||||
\node[addb, below right=1.0 and 0.6 of x](addn2){};
|
||||
\node[addb, right=2.6 of addn1](add1){};
|
||||
\node[addb, right=2.6 of addn2](add2){};
|
||||
\node[block, above left=0.2 and 0 of add1](delta1){$\Delta_1$};
|
||||
\node[block, above left=0.2 and 0 of add2](delta2){$\Delta_2$};
|
||||
\node[block, left=0.4 of delta1](W1){$w_1$};
|
||||
\node[block, left=0.4 of delta2](W2){$w_2$};
|
||||
\node[block, above=0.5 of addn1](N1) {$N_1$};
|
||||
\node[block, above=0.5 of addn2](N2) {$N_2$};
|
||||
\node[block, right=0.7 of add1](H1){$H_1$};
|
||||
\node[block, right=0.7 of add2](H2){$H_2$};
|
||||
\node[addb, right=5.8 of x](add){};
|
||||
|
||||
\draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center);
|
||||
\draw[->] (x.center) |- (add1.west);
|
||||
\draw[->] (x.center) |- (add2.west);
|
||||
\draw[->] ($(add1-|W1.west)+(-0.5, 0)$)node[branch](S1){} |- (W1.west);
|
||||
\draw[->] ($(add2-|W2.west)+(-0.5, 0)$)node[branch](S2){} |- (W2.west);
|
||||
\draw[->] (x.center) |- (addn1.west);
|
||||
\draw[->] (x.center) |- (addn2.west);
|
||||
\draw[->] ($(addn1-|W1.west)+(-0.3, 0)$)node[branch](S1){} |- (W1.west);
|
||||
\draw[->] ($(addn2-|W2.west)+(-0.3, 0)$)node[branch](S2){} |- (W2.west);
|
||||
\draw[->] (W1.east) -- (delta1.west);
|
||||
\draw[->] (W2.east) -- (delta2.west);
|
||||
\draw[->] (delta1.east) -| (add1.north);
|
||||
\draw[->] (delta2.east) -| (add2.north);
|
||||
\draw[->] (add1.east) -- (addn1.west);
|
||||
\draw[->] (add2.east) -- (addn2.west);
|
||||
\draw[->] (addn1.east) -- (H1.west)node[above left]{$\hat{x}_1$};
|
||||
\draw[->] (addn2.east) -- (H2.west)node[above left]{$\hat{x}_2$};
|
||||
\draw[->] ($(N1.north)+(0,0.7)$) node[below right](n1){$\tilde{n}_1$} -- (N1.north);
|
||||
\draw[->] ($(N2.north)+(0,0.7)$) node[below right](n2){$\tilde{n}_2$} -- (N2.north);
|
||||
\draw[->] (N1.south) -- (addn1.north)node[above right]{$n_1$};
|
||||
\draw[->] (N2.south) -- (addn2.north)node[above right]{$n_2$};
|
||||
\draw[->] (addn1.east) -- (add1.west);
|
||||
\draw[->] (addn2.east) -- (add2.west);
|
||||
\draw[->] (add1.east) -- (H1.west)node[above left]{$\hat{x}_1$};
|
||||
\draw[->] (add2.east) -- (H2.west)node[above left]{$\hat{x}_2$};
|
||||
\draw[<-] (N1.north)node[above left](n1){$\tilde{n}_1$} -- ++(0, 0.4);
|
||||
\draw[<-] (N2.north)node[above left](n2){$\tilde{n}_2$} -- ++(0, 0.4);
|
||||
\draw[->] (N1.south) -- (addn1.north)node[above left]{$n_1$};
|
||||
\draw[->] (N2.south) -- (addn2.north)node[above left]{$n_2$};
|
||||
\draw[->] (H1.east) -| (add.north);
|
||||
\draw[->] (H2.east) -| (add.south);
|
||||
\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[fit={($(H2.south-|x)+(-0.2, -0.3)$) ($(n1.north east-|add.east)+(0.2, 0.3)$)}, 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};
|
||||
|
||||
\node[fit={(n1.north west) ($(add1.south -| add1.east) + (0.1, -0.1)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor1) {};
|
||||
\node[below left] at (sensor1.north east) {Sensor 1};
|
||||
|
||||
\node[fit={(n2.north west) ($(add2.south -| add2.east) + (0.1, -0.1)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor2) {};
|
||||
\node[below left] at (sensor2.north east) {Sensor 2};
|
||||
\end{scope}
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
@ -285,27 +302,27 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
* Mixed H2/H-Infinity Synthesis
|
||||
#+begin_src latex :file mixed_h2_hinf_synthesis.pdf
|
||||
\begin{tikzpicture}
|
||||
\node[block={5.0cm}{5.0cm}, fill=black!20!white, dashed] (P) {};
|
||||
\node[above] at (P.north) {$P(s)$};
|
||||
\node[block={4.0cm}{4.0cm}, fill=black!20!white, dashed] (P) {};
|
||||
\node[above] at (P.north) {$P$};
|
||||
|
||||
\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[] (inputu) at ($(P.south west)!0.25!(P.north west) + (-0.7, 0)$);
|
||||
|
||||
\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 ($(P.south east)!0.15!(P.north east) + ( 0.7, 0)$);
|
||||
\coordinate[] (output2) at ($(P.south east)!0.65!(P.north east) + ( 0.7, 0)$);
|
||||
\coordinate[] (output3) at ($(P.south east)!0.45!(P.north east) + ( 0.7, 0)$);
|
||||
\coordinate[] (output4) at ($(P.south east)!0.25!(P.north east) + ( 0.7, 0)$);
|
||||
\coordinate[] (outputv) at ($(P.south east)!0.10!(P.north east) + ( 0.7, 0)$);
|
||||
|
||||
\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=1.0 of output1] (W1){$W_1$};
|
||||
\node[block, left=1.0 of output2] (W2){$W_2$};
|
||||
\node[addb={+}{}{}{}{-}, left=1.2 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, left=1.0 of output3] (N1){$N_1$};
|
||||
\node[block, left=1.0 of output4] (N2){$N_2$};
|
||||
\node[addb={+}{}{}{}{-}, left=0.6 of N1] (sub2) {};
|
||||
|
||||
\node[block, below=0.3 of P] (H2) {$H_2(s)$};
|
||||
\node[block, below=0.3 of P] (H2) {$H_2$};
|
||||
|
||||
\draw[->] (inputw) node[above right]{$w$} -- (sub1.west);
|
||||
\draw[->] (H2.west) -| ($(inputu)+(0.35, 0)$) node[above]{$u$} -- (N2.west);
|
||||
@ -316,10 +333,14 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
\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]{$z_4$};
|
||||
\draw[->] (W1.east) -- (output1)node[above left](z1){$z_1$};
|
||||
\draw[->] (W2.east) -- (output2)node[above left](z2){$z_2$};
|
||||
\draw[->] (N1.east) -- (output3)node[above left](z3){$z_3$};
|
||||
\draw[->] (N2.east) -- (output4)node[above left](z4){$z_4$};
|
||||
|
||||
|
||||
\draw [decoration={brace, raise=5pt}, decorate] (z1.north east) -- node[right=6pt]{$z_{\mathcal{H}_\infty}$} (z2.south east);
|
||||
\draw [decoration={brace, raise=5pt}, decorate] (z3.north east) -- node[right=6pt]{$z_{\mathcal{H}_2}$} (z4.south east);
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user