Control Theory

The Power of Predictions in Online Control

We study the impact of predictions in online Linear Quadratic Regulator control with both stochastic and adversarial disturbances in the dynamics. In both settings, we characterize the optimal policy and derive tight bounds on the minimum cost and …

Competitive Control with Delayed Imperfect Information

This paper studies the impact of imperfect information in online control with adversarial disturbances. In particular, we consider both _delayed_ state feedback and _inexact_ predictions of future disturbances. We introduce a greedy, myopic policy …

Combining Model-Based and Model-Free Methods for Nonlinear Control: A Provably Convergent Policy Gradient Approach

Model-free learning-based control methods have seen great success recently. However, such methods typically suffer from poor sample complexity and limited convergence guarantees. This is in sharp contrast to classical model-based control, which has a …