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arXiv · 2105.14709

Joint Stabilization and Regret Minimization through Switching in Over-Actuated Systems (extended version)

Jafar Abbaszadeh Chekan·Kamyar Azizzadenesheli·Cedric Langbort
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Abstract

Adaptively controlling and minimizing regret in unknown dynamical systems while controlling the growth of the system state is crucial in real-world applications. In this work, we study the problem of stabilization and regret minimization of linear over-actuated dynamical systems. We propose an optimism-based algorithm that leverages possibility of switching between actuating modes in order to alleviate state explosion during initial time steps. We theoretically study the rate at which our algorithm learns a stabilizing controller and prove that it achieves a regret upper bound of $\mathcal{O}(\sqrt{T})$.

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Jafar Abbaszadeh Chekan, Kamyar Azizzadenesheli, Cedric Langbort. 2021-05-31. Joint Stabilization and Regret Minimization through Switching in Over-Actuated Systems (extended version). https://arxiv.org/abs/2105.14709

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