OGD-BZC is a projected online gradient descent controller with a buffer zone that keeps convex safety constraints satisfied at all times under adversarial disturbances and achieves O~(sqrt(T)) regret against the best safe linear policy.
Online control with adversarial disturbances,
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Online Nonstochastic Control with Convex Safety Constraints
OGD-BZC is a projected online gradient descent controller with a buffer zone that keeps convex safety constraints satisfied at all times under adversarial disturbances and achieves O~(sqrt(T)) regret against the best safe linear policy.