#+TITLE: Robust and Optimal Sensor Fusion
:DRAWER:
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#+DATE: {{{time(%Y-%m-%d)}}}
#+AUTHOR: @@latex:\IEEEauthorblockN{Dehaeze Thomas\IEEEauthorrefmark{*} and Collette Christophe} \\@@
#+AUTHOR: @@latex:\IEEEauthorblockA{Precision Mechatronics Laboratory, ULB\\ Brussels, Belgium\\ Email: \IEEEauthorrefmark{*}dehaeze.thomas@gmail.com}@@

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* LaTeX Config                                                     :noexport:
#+begin_src latex :tangle config.tex
  % H Infini
  \newcommand{\hinf}{\mathcal{H}_\infty}

  % H 2
  \newcommand{\htwo}{\mathcal{H}_2}

  % Omega
  \newcommand{\w}{\omega}

  % H-Infinity Norm
  \newcommand{\hnorm}[1]{\left\|#1\right\|_{\infty}}

  % H-2 Norm
  \newcommand{\normtwo}[1]{\left\|#1\right\|_{2}}

  % Norm
  \newcommand{\norm}[1]{\left\|#1\right\|}

  % Absolute value
  \newcommand{\abs}[1]{\left\lvert #1 \right\lvert}

  % Minimum Subscript
  \newcommand{\smin}{_{\text{min}}}

  % Maximum Subscript
  \newcommand{\smax}{_{\text{max}}}

  \newcommand*\colvec[1]{\begin{bmatrix}#1\end{bmatrix}}
#+end_src

* Build                                                            :noexport:
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* Abstract                                                           :ignore:
#+begin_abstract
  Abstract text to be done
#+end_abstract

#+begin_IEEEkeywords
  complementary filters, h-infinity, feedback control
#+end_IEEEkeywords

* Introduction
<<sec:introduction>>

* Optimal Super Sensor Noise: $\mathcal{H}_2$ Synthesis
<<sec:optimal_fusion>>

** Sensor Fusion Architecture

** Super Sensor Noise

** $\mathcal{H}_2$ Synthesis of Complementary Filters

** Example

** Robustness Problem

* Robust Sensor Fusion: $\mathcal{H}_\infty$ Synthesis
<<sec:robust_fusion>>

** Representation of Sensor Dynamical Uncertainty

** Super Sensor Dynamical Uncertainty

** $\mathcal{H_\infty}$ Synthesis of Complementary Filters

** Example

* Optimal and Robust Sensor Fusion: Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis
<<sec:optimal_robust_fusion>>

** Sensor Fusion Architecture

** Synthesis Objective

** Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis

** Example

* Experimental Validation
<<sec:experimental_validation>>

** Experimental Setup

** Sensor Noise and Dynamical Uncertainty

** Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis

** Super Sensor Noise and Dynamical Uncertainty

* Conclusion
<<sec:conclusion>>

* Acknowledgment

* Bibliography                                                       :ignore:
\bibliography{ref}