This paper considers online switching control with a finite candidate controller pool, an unknown dynamical system, and unknown cost functions. The candidate controllers can be unstabilizing policies. We only require at least one candidate controller to satisfy certain stability properties, but we do not know which one is stabilizing. We design an online algorithm that guarantees finite-gain stability throughout the duration of its execution. We also provide a sublinear policy regret guarantee compared with the optimal stabilizing candidate controller. Lastly, we numerically test our algorithm on quadrotor planar flights and compare it with a classical switching control algorithm, falsification-based switching, and a classical multi-armed bandit algorithm, Exp3 with batches.

中文翻译：

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具有稳定性和遗憾保证的在线切换控制

本文考虑了具有有限候选控制器池、未知动力系统和未知成本函数的在线开关控制。候选控制器可能是不稳定的策略。我们只需要至少一个候选控制器来满足某些稳定性属性，但我们不知道哪个是稳定的。我们设计了一种在线算法，可在整个执行过程中保证有限增益稳定性。与最优稳定候选控制器相比，我们还提供了次线性策略后悔保证。最后，我们在四旋翼平面飞行中对我们的算法进行了数值测试，并将其与经典的切换控制算法、基于伪造的切换和经典的多臂强盗算法 Exp3 与批处理进行了比较。