7,430 research outputs found
A sequential semidefinite programming method and an application in passive reduced-order modeling
We consider the solution of nonlinear programs with nonlinear
semidefiniteness constraints. The need for an efficient exploitation of the
cone of positive semidefinite matrices makes the solution of such nonlinear
semidefinite programs more complicated than the solution of standard nonlinear
programs. In particular, a suitable symmetrization procedure needs to be chosen
for the linearization of the complementarity condition. The choice of the
symmetrization procedure can be shifted in a very natural way to certain linear
semidefinite subproblems, and can thus be reduced to a well-studied problem.
The resulting sequential semidefinite programming (SSP) method is a
generalization of the well-known SQP method for standard nonlinear programs. We
present a sensitivity result for nonlinear semidefinite programs, and then
based on this result, we give a self-contained proof of local quadratic
convergence of the SSP method. We also describe a class of nonlinear
semidefinite programs that arise in passive reduced-order modeling, and we
report results of some numerical experiments with the SSP method applied to
problems in that class
Contact-Implicit Trajectory Optimization Based on a Variable Smooth Contact Model and Successive Convexification
In this paper, we propose a contact-implicit trajectory optimization (CITO)
method based on a variable smooth contact model (VSCM) and successive
convexification (SCvx). The VSCM facilitates the convergence of gradient-based
optimization without compromising physical fidelity. On the other hand, the
proposed SCvx-based approach combines the advantages of direct and shooting
methods for CITO. For evaluations, we consider non-prehensile manipulation
tasks. The proposed method is compared to a version based on iterative linear
quadratic regulator (iLQR) on a planar example. The results demonstrate that
both methods can find physically-consistent motions that complete the tasks
without a meaningful initial guess owing to the VSCM. The proposed SCvx-based
method outperforms the iLQR-based method in terms of convergence, computation
time, and the quality of motions found. Finally, the proposed SCvx-based method
is tested on a standard robot platform and shown to perform efficiently for a
real-world application.Comment: Accepted for publication in ICRA 201
Optimal control of Allen-Cahn systems
Optimization problems governed by Allen-Cahn systems including elastic
effects are formulated and first-order necessary optimality conditions are
presented. Smooth as well as obstacle potentials are considered, where the
latter leads to an MPEC. Numerically, for smooth potential the problem is
solved efficiently by the Trust-Region-Newton-Steihaug-cg method. In case of an
obstacle potential first numerical results are presented
Sequential Convex Programming Methods for Solving Nonlinear Optimization Problems with DC constraints
This paper investigates the relation between sequential convex programming
(SCP) as, e.g., defined in [24] and DC (difference of two convex functions)
programming. We first present an SCP algorithm for solving nonlinear
optimization problems with DC constraints and prove its convergence. Then we
combine the proposed algorithm with a relaxation technique to handle
inconsistent linearizations. Numerical tests are performed to investigate the
behaviour of the class of algorithms.Comment: 18 pages, 1 figur
On affine scaling inexact dogleg methods for bound-constrained nonlinear systems
Within the framework of affine scaling trust-region methods for bound constrained problems, we discuss the use of a inexact dogleg method as a tool for simultaneously handling the trust-region and the bound constraints while seeking for an approximate minimizer of the model. Focusing on bound-constrained systems of nonlinear equations, an inexact affine scaling method for large scale problems, employing the inexact dogleg procedure, is described. Global convergence results are established without any Lipschitz assumption on the Jacobian matrix, and locally fast convergence is shown under standard assumptions. Convergence analysis is performed without specifying the scaling matrix used to handle the bounds, and a rather general class of scaling matrices is allowed in actual algorithms. Numerical results showing the performance of the method are also given
A self-adaptive trust region method for the extended linear complementarity problems
summary:By using some NCP functions, we reformulate the extended linear complementarity problem as a nonsmooth equation. Then we propose a self-adaptive trust region algorithm for solving this nonsmooth equation. The novelty of this method is that the trust region radius is controlled by the objective function value which can be adjusted automatically according to the algorithm. The global convergence is obtained under mild conditions and the local superlinear convergence rate is also established under strict complementarity conditions
Solving Mathematical Programs with Equilibrium Constraints as Nonlinear Programming: A New Framework
We present a new framework for the solution of mathematical programs with
equilibrium constraints (MPECs). In this algorithmic framework, an MPECs is
viewed as a concentration of an unconstrained optimization which minimizes the
complementarity measure and a nonlinear programming with general constraints. A
strategy generalizing ideas of Byrd-Omojokun's trust region method is used to
compute steps. By penalizing the tangential constraints into the objective
function, we circumvent the problem of not satisfying MFCQ. A trust-funnel-like
strategy is used to balance the improvements on feasibility and optimality. We
show that, under MPEC-MFCQ, if the algorithm does not terminate in finite
steps, then at least one accumulation point of the iterates sequence is an
S-stationary point
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