A Simple and Efficient Algorithm for Nonlinear Model Predictive Control

We present PANOC, a new algorithm for solving optimal control problems arising in nonlinear model predictive control (NMPC). A usual approach to this type of problems is sequential quadratic programming (SQP), which requires the solution of a quadratic program at every iteration and, consequently, inner iterative procedures. As a result, when the problem is ill-conditioned or the prediction horizon is large, each outer iteration becomes computationally very expensive. We propose a line-search algorithm that combines forward-backward iterations (FB) and Newton-type steps over the recently introduced forward-backward envelope (FBE), a continuous, real-valued, exact merit function for the original problem. The curvature information of Newton-type methods enables asymptotic superlinear rates under mild assumptions at the limit point, and the proposed algorithm is based on very simple operations: access to first-order information of the cost and dynamics and low-cost direct linear algebra. No inner iterative procedure nor Hessian evaluation is required, making our approach computationally simpler than SQP methods. The low-memory requirements and simple implementation make our method particularly suited for embedded NMPC applications

A trust region-type normal map-based semismooth Newton method for nonsmooth nonconvex composite optimization

We propose a novel trust region method for solving a class of nonsmooth and nonconvex composite-type optimization problems. The approach embeds inexact semismooth Newton steps for finding zeros of a normal map-based stationarity measure for the problem in a trust region framework. Based on a new merit function and acceptance mechanism, global convergence and transition to fast local q-superlinear convergence are established under standard conditions. In addition, we verify that the proposed trust region globalization is compatible with the Kurdyka-{\L}ojasiewicz (KL) inequality yielding finer convergence results. We further derive new normal map-based representations of the associated second-order optimality conditions that have direct connections to the local assumptions required for fast convergence. Finally, we study the behavior of our algorithm when the Hessian matrix of the smooth part of the objective function is approximated by BFGS updates. We successfully link the KL theory, properties of the BFGS approximations, and a Dennis-Mor{\'e}-type condition to show superlinear convergence of the quasi-Newton version of our method. Numerical experiments on sparse logistic regression and image compression illustrate the efficiency of the proposed algorithm.Comment: 56 page

Optimization Algorithms for Machine Learning Problems

In the first chapter of this thesis, we analyze the global convergence rate of a proximal quasi-Newton algorithm for solving composite optimization problems, in both exact and inexact settings, in the case when the objective function is strongly convex.