On the Sample Size of Random Convex Programs with Structured Dependence on the Uncertainty (Extended Version)

The "scenario approach" provides an intuitive method to address chance constrained problems arising in control design for uncertain systems. It addresses these problems by replacing the chance constraint with a finite number of sampled constraints (scenarios). The sample size critically depends on Helly's dimension, a quantity always upper bounded by the number of decision variables. However, this standard bound can lead to computationally expensive programs whose solutions are conservative in terms of cost and violation probability. We derive improved bounds of Helly's dimension for problems where the chance constraint has certain structural properties. The improved bounds lower the number of scenarios required for these problems, leading both to improved objective value and reduced computational complexity. Our results are generally applicable to Randomized Model Predictive Control of chance constrained linear systems with additive uncertainty and affine disturbance feedback. The efficacy of the proposed bound is demonstrated on an inventory management example.Comment: Accepted for publication at Automatic

Outage Constrained Robust Secure Transmission for MISO Wiretap Channels

In this paper we consider the robust secure beamformer design for MISO wiretap channels. Assume that the eavesdroppers' channels are only partially available at the transmitter, we seek to maximize the secrecy rate under the transmit power and secrecy rate outage probability constraint. The outage probability constraint requires that the secrecy rate exceeds certain threshold with high probability. Therefore including such constraint in the design naturally ensures the desired robustness. Unfortunately, the presence of the probabilistic constraints makes the problem non-convex and hence difficult to solve. In this paper, we investigate the outage probability constrained secrecy rate maximization problem using a novel two-step approach. Under a wide range of uncertainty models, our developed algorithms can obtain high-quality solutions, sometimes even exact global solutions, for the robust secure beamformer design problem. Simulation results are presented to verify the effectiveness and robustness of the proposed algorithms

Chance-Constrained Equilibrium in Electricity Markets With Asymmetric Forecasts

We develop a stochastic equilibrium model for an electricity market with asymmetric renewable energy forecasts. In our setting, market participants optimize their profits using public information about a conditional expectation of energy production but use private information about the forecast error distribution. This information is given in the form of samples and incorporated into profit-maximizing optimizations of market participants through chance constraints. We model information asymmetry by varying the sample size of participants' private information. We show that with more information available, the equilibrium gradually converges to the ideal solution provided by the perfect information scenario. Under information scarcity, however, we show that the market converges to the ideal equilibrium if participants are to infer the forecast error distribution from the statistical properties of the data at hand or share their private forecasts

Convex Relaxations and Approximations of Chance-Constrained AC-OPF Problems

This paper deals with the impact of linear approximations for the unknown nonconvex confidence region of chance-constrained AC optimal power flow problems. Such approximations are required for the formulation of tractable chance constraints. In this context, we introduce the first formulation of a chance-constrained second-order cone (SOC) OPF. The proposed formulation provides convergence guarantees due to its convexity, while it demonstrates high computational efficiency. Combined with an AC feasibility recovery, it is able to identify better solutions than chance-constrained nonconvex AC-OPF formulations. To the best of our knowledge, this paper is the first to perform a rigorous analysis of the AC feasibility recovery procedures for robust SOC-OPF problems. We identify the issues that arise from the linear approximations, and by using a reformulation of the quadratic chance constraints, we introduce new parameters able to reshape the approximation of the confidence region. We demonstrate our method on the IEEE 118-bus system

From Uncertainty Data to Robust Policies for Temporal Logic Planning

We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications and encode them into an optimization framework via mixed-integer constraints. Both the system dynamics and the specifications are known but affected by uncertainty. The distribution of the uncertainty is unknown, however realizations can be obtained. We introduce a data-driven approach where the constraints are fulfilled for a set of realizations and provide probabilistic generalization guarantees as a function of the number of considered realizations. We use separate chance constraints for the satisfaction of the specification and operational constraints. This allows us to quantify their violation probabilities independently. We compute disturbance feedback policies as solutions of mixed-integer linear or quadratic optimization problems. By using feedback we can exploit information of past realizations and provide feasibility for a wider range of situations compared to static input sequences. We demonstrate the proposed method on two robust motion-planning case studies for autonomous driving

A scenario approach for non-convex control design

Randomized optimization is an established tool for control design with modulated robustness. While for uncertain convex programs there exist randomized approaches with efficient sampling, this is not the case for non-convex problems. Approaches based on statistical learning theory are applicable to non-convex problems, but they usually are conservative in terms of performance and require high sample complexity to achieve the desired probabilistic guarantees. In this paper, we derive a novel scenario approach for a wide class of random non-convex programs, with a sample complexity similar to that of uncertain convex programs and with probabilistic guarantees that hold not only for the optimal solution of the scenario program, but for all feasible solutions inside a set of a-priori chosen complexity. We also address measure-theoretic issues for uncertain convex and non-convex programs. Among the family of non-convex control- design problems that can be addressed via randomization, we apply our scenario approach to randomized Model Predictive Control for chance-constrained nonlinear control-affine systems.Comment: Submitted to IEEE Transactions on Automatic Contro