Adaptive Horizon Model Predictive Control and Al'brekht's Method

A standard way of finding a feedback law that stabilizes a control system to an operating point is to recast the problem as an infinite horizon optimal control problem. If the optimal cost and the optmal feedback can be found on a large domain around the operating point then a Lyapunov argument can be used to verify the asymptotic stability of the closed loop dynamics. The problem with this approach is that is usually very difficult to find the optimal cost and the optmal feedback on a large domain for nonlinear problems with or without constraints. Hence the increasing interest in Model Predictive Control (MPC). In standard MPC a finite horizon optimal control problem is solved in real time but just at the current state, the first control action is implimented, the system evolves one time step and the process is repeated. A terminal cost and terminal feedback found by Al'brekht's methoddefined in a neighborhood of the operating point is used to shorten the horizon and thereby make the nonlinear programs easier to solve because they have less decision variables. Adaptive Horizon Model Predictive Control (AHMPC) is a scheme for varying the horizon length of Model Predictive Control (MPC) as needed. Its goal is to achieve stabilization with horizons as small as possible so that MPC methods can be used on faster and/or more complicated dynamic processes.Comment: arXiv admin note: text overlap with arXiv:1602.0861

A Satisfiability Algorithm for Sparse Depth Two Threshold Circuits

We give a nontrivial algorithm for the satisfiability problem for cn-wire threshold circuits of depth two which is better than exhaustive search by a factor 2^{sn} where s= 1/c^{O(c^2)}. We believe that this is the first nontrivial satisfiability algorithm for cn-wire threshold circuits of depth two. The independently interesting problem of the feasibility of sparse 0-1 integer linear programs is a special case. To our knowledge, our algorithm is the first to achieve constant savings even for the special case of Integer Linear Programming. The key idea is to reduce the satisfiability problem to the Vector Domination Problem, the problem of checking whether there are two vectors in a given collection of vectors such that one dominates the other component-wise. We also provide a satisfiability algorithm with constant savings for depth two circuits with symmetric gates where the total weighted fan-in is at most cn. One of our motivations is proving strong lower bounds for TC^0 circuits, exploiting the connection (established by Williams) between satisfiability algorithms and lower bounds. Our second motivation is to explore the connection between the expressive power of the circuits and the complexity of the corresponding circuit satisfiability problem