A Condensing Algorithm for Nonlinear MPC with a Quadratic Runtime in Horizon Length

A large number of practical algorithms for Optimal Control Problems (OCP) relies on a so-called condensing procedure to exploit the given structure in the quadratic programming (QP) subproblems. While the established structure-exploiting condensing algorithm is of cubic complexity in the horizon length, in this technical note we propose a novel algorithm that is only of … Read more

Efficiency of minimizing compositions of convex functions and smooth maps

We consider the problem of minimizing a sum of a convex function and a composition of a convex function with a smooth map. Important examples include exact penalty formulations of nonlinear programs and nonlinear least squares problems with side constraints. The basic algorithm we rely on is the well-known prox-linear method, which in each iteration … Read more

A Double Smoothing Technique for Constrained Convex Optimization Problems and Applications to Optimal Control

In this paper, we propose an efficient approach for solving a class of convex optimization problems in Hilbert spaces. Our feasible region is a (possibly infinite-dimensional) simple convex set, i.e. we assume that projections on this set are computationally easy to compute. The problem we consider is the minimization of a convex function over this … Read more

First-order Methods of Smooth Convex Optimization with Inexact Oracle

We introduce the notion of inexact first-order oracle and analyze the behaviour of several first-order methods of smooth convex optimization used with such an oracle. This notion of inexact oracle naturally appears in the context of smoothing techniques, Moreau-Yosida regularization, Augmented Lagrangians and many other situations. We derive complexity estimates for primal, dual and fast … Read more

Double smoothing technique for infinite-dimensional optimization problems with applications to Optimal Control.

In this paper, we propose an efficient technique for solving some infinite-dimensional problems over the sets of functions of time. In our problem, besides the convex point-wise constraints on state variables, we have convex coupling constraints with finite-dimensional image. Hence, we can formulate a finite-dimensional dual problem, which can be solved by efficient gradient methods. … Read more