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Imitation learning of car driving skills with decision trees and random forests

Paweł Cichosz, Łukasz Pawełczak (2014)

International Journal of Applied Mathematics and Computer Science

Machine learning is an appealing and useful approach to creating vehicle control algorithms, both for simulated and real vehicles. One common learning scenario that is often possible to apply is learning by imitation, in which the behavior of an exemplary driver provides training instances for a supervised learning algorithm. This article follows this approach in the domain of simulated car racing, using the TORCS simulator. In contrast to most prior work on imitation learning, a symbolic decision...

Immunotherapy with interleukin-2: A study based on mathematical modeling

Sandip Banerjee (2008)

International Journal of Applied Mathematics and Computer Science

The role of interleukin-2 (IL-2) in tumor dynamics is illustrated through mathematical modeling, using delay differential equations with a discrete time delay (a modified version of the Kirshner-Panetta model). Theoretical analysis gives an expression for the discrete time delay and the length of the time delay to preserve stability. Numerical analysis shows that interleukin-2 alone can cause the tumor cell population to regress.

Improving the performance of semiglobal output controllers for nonlinear systems

Abdallah Benabdallah, Walid Hdidi (2017)

Kybernetika

For a large class of nonlinear control systems, the main drawback of a semiglobal stabilizing output feedback controllers ( 𝒰 R ) R > 0 with increasing regions of attraction ( Ω R ) R > 0 is that, when the region of attraction Ω R is large, the convergence of solutions of the closed-loop system to the origin becomes slow. To improve the performance of a semiglobal controller, we look for a new feedback control law that preserves the semiglobal stability of the nonlinear system under consideration and that is equal to some...

Improving the stability of discretization zeros with the Taylor method using a generalization of the fractional-order hold

Cheng Zeng, Shan Liang, Yuzhe Zhang, Jiaqi Zhong, Yingying Su (2014)

International Journal of Applied Mathematics and Computer Science

Remarkable improvements in the stability properties of discrete system zeros may be achieved by using a new design of the fractional-order hold (FROH) circuit. This paper first analyzes asymptotic behaviors of the limiting zeros, as the sampling period T tends to zero, of the sampled-data models on the basis of the normal form representation for continuous-time systems with a new hold proposed. Further, we also give the approximate expression of limiting zeros of the resulting sampled-data system...

Independence of asymptotic stability of positive 2D linear systems with delays of their delays

Tadeusz Kaczorek (2009)

International Journal of Applied Mathematics and Computer Science

It is shown that the asymptotic stability of positive 2D linear systems with delays is independent of the number and values of the delays and it depends only on the sum of the system matrices, and that the checking of the asymptotic stability of positive 2D linear systems with delays can be reduced to testing that of the corresponding positive 1D systems without delays. The effectiveness of the proposed approaches is demonstrated on numerical examples.

Indirect adaptive controller based on a self-structuring fuzzy system for nonlinear modeling and control

Ruiyun Qi, Mietek A. Brdys (2009)

International Journal of Applied Mathematics and Computer Science

In this paper, a unified nonlinear modeling and control scheme is presented. A self-structuring Takagi-Sugeno (T-S) fuzzy model is used to approximate the unknown nonlinear plant based on I/O data collected on-line. Both the structure and the parameters of the T-S fuzzy model are updated by an on-line clustering method and a recursive least squares estimation (RLSE) algorithm. The rules of the fuzzy model can be added, replaced or deleted on-line to allow a more flexible and compact model structure....

Indirect stabilization of locally coupled wave-type systems

Fatiha Alabau-Boussouira, Matthieu Léautaud (2012)

ESAIM: Control, Optimisation and Calculus of Variations

We study in an abstract setting the indirect stabilization of systems of two wave-like equations coupled by a localized zero order term. Only one of the two equations is directly damped. The main novelty in this paper is that the coupling operator is not assumed to be coercive in the underlying space. We show that the energy of smooth solutions of these systems decays polynomially at infinity, whereas it is known that exponential stability does not...

Indirect stabilization of locally coupled wave-type systems

Fatiha Alabau-Boussouira, Matthieu Léautaud (2012)

ESAIM: Control, Optimisation and Calculus of Variations

We study in an abstract setting the indirect stabilization of systems of two wave-like equations coupled by a localized zero order term. Only one of the two equations is directly damped. The main novelty in this paper is that the coupling operator is not assumed to be coercive in the underlying space. We show that the energy of smooth solutions of these systems decays polynomially at infinity, whereas it is known that exponential stability does not...

Infinite time regular synthesis

B. Piccoli (2010)

ESAIM: Control, Optimisation and Calculus of Variations

In this paper we provide a new sufficiency theorem for regular syntheses. The concept of regular synthesis is discussed in [12], where a sufficiency theorem for finite time syntheses is proved. There are interesting examples of optimal syntheses that are very regular, but whose trajectories have time domains not necessarily bounded. The regularity assumptions of the main theorem in [12] are verified by every piecewise smooth feedback control generating extremal trajectories that reach the target...

Infinite-dimensional LMI approach to analysis and synthesis for linear time-delay systems

Kojiro Ikeda, Takehito Azuma, Kenko Uchida (2001)

Kybernetika

This paper considers an analysis and synthesis problem of controllers for linear time-delay systems in the form of delay-dependent memory state feedback, and develops an Linear Matrix Inequality (LMI) approach. First, we present an existence condition and an explicit formula of controllers, which guarantee a prescribed level of L 2 gain of closed loop systems, in terms of infinite-dimensional LMIs. This result is rather general in the sense that it covers, as special cases, some known results for...

Infinite-dimensional Sylvester equations: Basic theory and application to observer design

Zbigniew Emirsajłow (2012)

International Journal of Applied Mathematics and Computer Science

This paper develops a mathematical framework for the infinite-dimensional Sylvester equation both in the differential and the algebraic form. It uses the implemented semigroup concept as the main mathematical tool. This concept may be found in the literature on evolution equations occurring in mathematics and physics and is rather unknown in systems and control theories. But it is just systems and control theory where Sylvester equations widely appear, and for this reason we intend to give a mathematically...

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