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Regret Lower Bounds for Unbiased Adaptive Control of Linear Quadratic Regulators
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-4140-1279
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0003-1835-2963
2020 (English)In: IEEE Control Systems Letters, E-ISSN 2475-1456, Vol. 4, no 3, p. 785-790Article in journal (Refereed) Published
Abstract [en]

We present lower bounds for the regret of adaptive control of the linear quadratic regulator. These are given in terms of problem specific expected regret lower bounds valid for unbiased policies linear in the state. Our approach is based on the insight that the adaptive control problem can, given our assumptions, be reduced to a sequential estimation problem. This enables the use of the Cramer-Rao information inequality which yields a scaling limit lower bound of logarithmic order. The bound features both information-theoretic and control-theoretic quantities. By leveraging existing results, we are able to show that the bound is tight in a special case.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2020. Vol. 4, no 3, p. 785-790
Keywords [en]
Adaptive control, Regulators, Convergence, Control theory, Reinforcement learning, Riccati equations, machine learning, estimation error, algorithm design and analysis
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-277665DOI: 10.1109/LCSYS.2020.2982455ISI: 000538080200015Scopus ID: 2-s2.0-85082035462OAI: oai:DiVA.org:kth-277665DiVA, id: diva2:1456341
Note

QC 20200804

Available from: 2020-08-04 Created: 2020-08-04 Last updated: 2025-03-19Bibliographically approved

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Ziemann, IngvarSandberg, Henrik

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