Primal-dual splitting schemes are a class of powerful algorithms that solve complicated monotone inclusions and convex optimization problems that are built from many simpler pieces. They decompose problems that are built from sums, linear compositions, and infimal convolutions of simple functions so that each simple term is processed individually via proximal mappings, gradient mappings, and multiplications by the linear maps. This leads to easily implementable and highly parallelizable or distributed algorithms, which often obtain nearly state-of-the-art performance. In this paper, we analyze a monotone inclusion problem that captures a large class of primal-dual splittings as a special case. We introduce a unifying scheme and use some abstract analysis of the algorithm to prove convergence rates of the proximal point algorithm, forward-backward splitting, Peaceman-Rachford splitting, and forward-backward-forward splitting applied to the model problem. Our ergodic convergence rates are deduced under variable metrics, stepsizes, and relaxation. Our nonergodic convergence rates are the first shown in the literature. Finally, we apply our results to a large class of primal-dual algorithms that are a special case of our scheme and deduce their convergence rates.
SIAM Journal on Optimization (to appear)