1,373 research outputs found
A Statistical Learning Theory Approach for Uncertain Linear and Bilinear Matrix Inequalities
In this paper, we consider the problem of minimizing a linear functional
subject to uncertain linear and bilinear matrix inequalities, which depend in a
possibly nonlinear way on a vector of uncertain parameters. Motivated by recent
results in statistical learning theory, we show that probabilistic guaranteed
solutions can be obtained by means of randomized algorithms. In particular, we
show that the Vapnik-Chervonenkis dimension (VC-dimension) of the two problems
is finite, and we compute upper bounds on it. In turn, these bounds allow us to
derive explicitly the sample complexity of these problems. Using these bounds,
in the second part of the paper, we derive a sequential scheme, based on a
sequence of optimization and validation steps. The algorithm is on the same
lines of recent schemes proposed for similar problems, but improves both in
terms of complexity and generality. The effectiveness of this approach is shown
using a linear model of a robot manipulator subject to uncertain parameters.Comment: 19 pages, 2 figures, Accepted for Publication in Automatic
Chance Constrained Mixed Integer Program: Bilinear and Linear Formulations, and Benders Decomposition
In this paper, we study chance constrained mixed integer program with
consideration of recourse decisions and their incurred cost, developed on a
finite discrete scenario set. Through studying a non-traditional bilinear mixed
integer formulation, we derive its linear counterparts and show that they could
be stronger than existing linear formulations. We also develop a variant of
Jensen's inequality that extends the one for stochastic program. To solve this
challenging problem, we present a variant of Benders decomposition method in
bilinear form, which actually provides an easy-to-use algorithm framework for
further improvements, along with a few enhancement strategies based on
structural properties or Jensen's inequality. Computational study shows that
the presented Benders decomposition method, jointly with appropriate
enhancement techniques, outperforms a commercial solver by an order of
magnitude on solving chance constrained program or detecting its infeasibility
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
Robust Region-of-Attraction Estimation
We propose a method to compute invariant subsets of the region-of-attraction for asymptotically stable equilibrium points of polynomial dynamical systems with bounded parametric uncertainty. Parameter-independent Lyapunov functions are used to characterize invariant subsets of the robust region-of-attraction. A branch-and-bound type refinement procedure reduces the conservatism. We demonstrate the method on an example from the literature and uncertain controlled short-period aircraft dynamics
Stochastic Variance Reduction Methods for Saddle-Point Problems
We consider convex-concave saddle-point problems where the objective
functions may be split in many components, and extend recent stochastic
variance reduction methods (such as SVRG or SAGA) to provide the first
large-scale linearly convergent algorithms for this class of problems which is
common in machine learning. While the algorithmic extension is straightforward,
it comes with challenges and opportunities: (a) the convex minimization
analysis does not apply and we use the notion of monotone operators to prove
convergence, showing in particular that the same algorithm applies to a larger
class of problems, such as variational inequalities, (b) there are two notions
of splits, in terms of functions, or in terms of partial derivatives, (c) the
split does need to be done with convex-concave terms, (d) non-uniform sampling
is key to an efficient algorithm, both in theory and practice, and (e) these
incremental algorithms can be easily accelerated using a simple extension of
the "catalyst" framework, leading to an algorithm which is always superior to
accelerated batch algorithms.Comment: Neural Information Processing Systems (NIPS), 2016, Barcelona, Spai
Stability and Performance Verification of Optimization-based Controllers
This paper presents a method to verify closed-loop properties of
optimization-based controllers for deterministic and stochastic constrained
polynomial discrete-time dynamical systems. The closed-loop properties amenable
to the proposed technique include global and local stability, performance with
respect to a given cost function (both in a deterministic and stochastic
setting) and the gain. The method applies to a wide range of
practical control problems: For instance, a dynamical controller (e.g., a PID)
plus input saturation, model predictive control with state estimation, inexact
model and soft constraints, or a general optimization-based controller where
the underlying problem is solved with a fixed number of iterations of a
first-order method are all amenable to the proposed approach.
The approach is based on the observation that the control input generated by
an optimization-based controller satisfies the associated Karush-Kuhn-Tucker
(KKT) conditions which, provided all data is polynomial, are a system of
polynomial equalities and inequalities. The closed-loop properties can then be
analyzed using sum-of-squares (SOS) programming
Finite-Time Control of Uncertain Linear Systems Using Statistical Learning Methods
In this paper we show how some difficult linear algebra problems can be “approximately” solved using statistical learning methods. We illustrate our results by considering the state and output feedback, finite-time robust stabilization problems for linear systems subject to time-varying norm-bounded uncertainties and to unknown disturbances. In the state feedback case, we have obtained in an earlier paper, a sufficient condition for finite-time stabilization in the presence of time-varying disturbances; such condition requires the solution of a Linear Matrix Inequality (LMI) feasibility problem, which is by now a standard application of linear algebraic methods. In the output feedback case, however, we end up with a Bilinear Matrix Inequality (BMI) problem which we attack by resorting to a statistical approach
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