Patrick Walters

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—In deterministic systems, reinforcement learning-based online approximate optimal control methods typically require a restrictive persistence of excitation (PE) condition for convergence. This paper presents a concurrent learning-based solution to the online approximate optimal regulation problem that eliminates the need for PE. The development is based on(More)
—This paper provides an approximate online adaptive solution to the infinite-horizon optimal tracking problem for control-affine continuous-time nonlinear systems with unknown drift dynamics. Model-based reinforcement learning is used to relax the persistence of excitation condition. Model-based reinforcement learning is implemented using a concurrent(More)
The activity cliff concept has experienced increasing interest in medicinal chemistry and chemoinformatics. Activity cliffs have originally been defined as pairs of structurally similar compounds that are active against the same target but have a large difference in potency. Activity cliffs are relevant for structure-activity relationship (SAR) analysis and(More)
—This study focuses on the development of a nonlin-ear control design for a fully-actuated autonomous underwater vehicle (AUV) using a continuous robust integral of the sign of the error control structure to compensate for system uncertainties and sufficiently smooth bounded exogenous disturbances. A Lya-punov stability analysis is included to prove(More)
We present the first measurements of the pseudorapidity distribution of primary charged particles in Cu+Cu collisions as a function of collision centrality and energy, sqrt[s_{NN}]=22.4, 62.4, and 200 GeV, over a wide range of pseudorapidity, using the PHOBOS detector. A comparison of Cu+Cu and Au+Au results shows that the total number of produced charged(More)
This paper presents a summary of work that was done by the civic governments of Calgary and Edmonton that addressed the question of suburban development, infrastructure growth and rehabilitation and their financing given limited funding. In the 1980's and 1990s, Canadian federal and provincial governments became concerned about the state of their respective(More)