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  • 1. Moran Cardenas, Antonio
    et al.
    Rázuri, Javier G.
    Stockholm University, Faculty of Social Sciences, Department of Computer and Systems Sciences.
    Bonet, Isis
    Rahmani, Rahim
    Stockholm University, Faculty of Social Sciences, Department of Computer and Systems Sciences.
    Sundgren, David
    Stockholm University, Faculty of Social Sciences, Department of Computer and Systems Sciences.
    Design of High Accuracy Tracking Systems with H Infinite Preview Control2014In: POLIBITS Research Journal on Computer Science and Computer Engineering With Applications, ISSN 1870-9044, Vol. 50, p. 21-28Article in journal (Refereed)
    Abstract [en]

    Positioning and tracking control systems are an important component of autonomous robot applications. This paper presents the design method of tracking control systems based on H infinite preview control where the present and future desired positions of the robot are used to determine the control actions to be applied so that the robot describes the desired trajectory as close as possible. The performance improvements achieved with H infinite preview control have been examined in the frequency and time domains for different types of reference signals when applied to a one-dimensional positioning system. It was found that preview control improves the tracking performance by improving the phase response of the tracking system.

  • 2.
    Sundgren, David
    et al.
    Stockholm University, Faculty of Social Sciences, Department of Computer and Systems Sciences.
    Karlsson, Alexander
    Uncertainty Levels of Second-Order Probability2013In: POLIBITS Research Journal on Computer Science and Computer Engineering With Applications, ISSN 1870-9044, no 48, p. 5-11Article in journal (Refereed)
    Abstract [en]

    Since second-order probability distributions assign probabilities to probabilities there is uncertainty on two levels. Although different types of uncertainty have been distinguished before and corresponding measures suggested, the distinction made here between first- and second-order levels of uncertainty has not been considered before. In this paper previously existing measures are considered from the perspective of first- and second-order uncertainty and new measures are introduced. We conclude that the concepts of uncertainty and informativeness needs to be qualified if used in a second-order probability context and suggest that from a certain point of view information can not be minimized, just shifted from one level to another.

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