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In this work we investigate the use of Extended Kalman Filter (EKF) methods to identify parameters in a nonlinear model. The model, derived in earlier work, describes how a person behaves when he or she is offered a sequence of rewards to carry out a task for which his or her initial attitude is negative. A main conclusion of the paper is that EKF methods can be used to effectively estimate a single...
The problem of constructing a controller that results in a time response which is smooth, has a desired speed of response, and has little cross-channel interaction, is considered in this paper for the discrete-time servomechanism problem. Subject to fundamental limitations on achievable performance, we satisfy this objective by introducing a new cheap-control quadratic performance index that has the...
In this paper the problem of simultaneously stabilizing a bicycle and following a path is investigated. Based on a bicycle model that has been experimentally validated, we develop a systematic multi-loop approach using linear control techniques, treating lean torque and steer torque as the control signals. We prove asymptotic convergence to paths of constant curvature; this result is confirmed with...
This paper takes a control engineering perspective on the use of rewards to modify the behavior of a person. We consider the particular scenario where a parent is trying to coerce her child to get more physical exercise. The goal is to determine a reward sequence that drives the child's behavior to some desired value. The main novelty of this paper is the introduction of social-norm effects (arising...
This work extends previous research dealing with the deadbeat output regulation of discrete-time nonlinear plants. The plant is composed of agents that interact, via scalar-valued signals, in a known structured way. As in our earlier research, control agents are introduced to interact with certain plant agents, where each control agent focuses on regulating a specific plant agent, called its target...
This paper extends earlier work where we showed how multiple control agents can cooperatively regulate a crowd of people with known psychological dynamics. Keeping within the framework in which each control agent is assigned a target in the crowd and seeks to regulate that one target, we prove in this paper that if there is an intersection between any pair of the shortest paths between control agents...
This work is motivated by the observation that students in a classroom sometimes seem to behave not as a group of independent individuals, but instead as a collective body. Interaction among students leads to psychological dynamics within the class, specifically the propagation of attitudes from student to student. These dynamics tend to be unstable. The goal of this paper is to investigate if it...
Motivated by recent research into the automation of radiotherapy for the treatment of cancer, this paper looks at feedback control problems where the feedback sensor introduces a time delay. As in previous work, the use of an asymptotic estimator (for example, an observer-based estimator) is considered as a method of compensating for the sensor time delay. The main result in this paper is that, if...
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