Linearly Solvable Stochastic Control Lyapunov Functions

This paper presents a new method for synthesizing stochastic control Lyapunov functions for a class of nonlinear stochastic control systems. The technique relies on a transformation of the classical nonlinear Hamilton-Jacobi-Bellman partial differential equation to a linear partial differential equation for a class of problems with a particular constraint on the stochastic forcing. This linear partial differential equation can then be relaxed to a linear differential inclusion, allowing for relaxed solutions to be generated using sum of squares programming. The resulting relaxed solutions are in fact viscosity super/subsolutions, and by the maximum principle are pointwise upper and lower bounds to the underlying value function, even for coarse polynomial approximations. Furthermore, the pointwise upper bound is shown to be a stochastic control Lyapunov function, yielding a method for generating nonlinear controllers with pointwise bounded distance from the optimal cost when using the optimal controller. These approximate solutions may be computed with non-increasing error via a hierarchy of semidefinite optimization problems. Finally, this paper develops a-priori bounds on trajectory suboptimality when using these approximate value functions, as well as demonstrates that these methods, and bounds, can be applied to a more general class of nonlinear systems not obeying the constraint on stochastic forcing. Simulated examples illustrate the methodology.Comment: Published in SIAM Journal of Control and Optimizatio

Solving Factored MDPs with Hybrid State and Action Variables

Efficient representations and solutions for large decision problems with continuous and discrete variables are among the most important challenges faced by the designers of automated decision support systems. In this paper, we describe a novel hybrid factored Markov decision process (MDP) model that allows for a compact representation of these problems, and a new hybrid approximate linear programming (HALP) framework that permits their efficient solutions. The central idea of HALP is to approximate the optimal value function by a linear combination of basis functions and optimize its weights by linear programming. We analyze both theoretical and computational aspects of this approach, and demonstrate its scale-up potential on several hybrid optimization problems

Semidefinite Relaxations for Stochastic Optimal Control Policies

Recent results in the study of the Hamilton Jacobi Bellman (HJB) equation have led to the discovery of a formulation of the value function as a linear Partial Differential Equation (PDE) for stochastic nonlinear systems with a mild constraint on their disturbances. This has yielded promising directions for research in the planning and control of nonlinear systems. This work proposes a new method obtaining approximate solutions to these linear stochastic optimal control (SOC) problems. A candidate polynomial with variable coefficients is proposed as the solution to the SOC problem. A Sum of Squares (SOS) relaxation is then taken to the partial differential constraints, leading to a hierarchy of semidefinite relaxations with improving sub-optimality gap. The resulting approximate solutions are shown to be guaranteed over- and under-approximations for the optimal value function.Comment: Preprint. Accepted to American Controls Conference (ACC) 2014 in Portland, Oregon. 7 pages, colo

Perron vector optimization applied to search engines

In the last years, Google's PageRank optimization problems have been extensively studied. In that case, the ranking is given by the invariant measure of a stochastic matrix. In this paper, we consider the more general situation in which the ranking is determined by the Perron eigenvector of a nonnegative, but not necessarily stochastic, matrix, in order to cover Kleinberg's HITS algorithm. We also give some results for Tomlin's HOTS algorithm. The problem consists then in finding an optimal outlink strategy subject to design constraints and for a given search engine. We study the relaxed versions of these problems, which means that we should accept weighted hyperlinks. We provide an efficient algorithm for the computation of the matrix of partial derivatives of the criterion, that uses the low rank property of this matrix. We give a scalable algorithm that couples gradient and power iterations and gives a local minimum of the Perron vector optimization problem. We prove convergence by considering it as an approximate gradient method. We then show that optimal linkage stategies of HITS and HOTS optimization problems verify a threshold property. We report numerical results on fragments of the real web graph for these search engine optimization problems.Comment: 28 pages, 5 figure

Ergodic Control and Polyhedral approaches to PageRank Optimization

We study a general class of PageRank optimization problems which consist in finding an optimal outlink strategy for a web site subject to design constraints. We consider both a continuous problem, in which one can choose the intensity of a link, and a discrete one, in which in each page, there are obligatory links, facultative links and forbidden links. We show that the continuous problem, as well as its discrete variant when there are no constraints coupling different pages, can both be modeled by constrained Markov decision processes with ergodic reward, in which the webmaster determines the transition probabilities of websurfers. Although the number of actions turns out to be exponential, we show that an associated polytope of transition measures has a concise representation, from which we deduce that the continuous problem is solvable in polynomial time, and that the same is true for the discrete problem when there are no coupling constraints. We also provide efficient algorithms, adapted to very large networks. Then, we investigate the qualitative features of optimal outlink strategies, and identify in particular assumptions under which there exists a "master" page to which all controlled pages should point. We report numerical results on fragments of the real web graph.Comment: 39 page

From Infinite to Finite Programs: Explicit Error Bounds with Applications to Approximate Dynamic Programming

We consider linear programming (LP) problems in infinite dimensional spaces that are in general computationally intractable. Under suitable assumptions, we develop an approximation bridge from the infinite-dimensional LP to tractable finite convex programs in which the performance of the approximation is quantified explicitly. To this end, we adopt the recent developments in two areas of randomized optimization and first order methods, leading to a priori as well as a posterior performance guarantees. We illustrate the generality and implications of our theoretical results in the special case of the long-run average cost and discounted cost optimal control problems for Markov decision processes on Borel spaces. The applicability of the theoretical results is demonstrated through a constrained linear quadratic optimal control problem and a fisheries management problem.Comment: 30 pages, 5 figure