arXiv subjects

Andreas Themelis

Publications and source records attributed to Andreas Themelis.

39 records · Page 3Linked to original sources

arXiv2017

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.

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arXiv2017

Forward-backward envelope for the sum of two nonconvex functions: Further properties and nonmonotone line-search algorithms

We propose ZeroFPR, a nonmonotone linesearch algorithm for minimizing the sum of two nonconvex functions, one of which is smooth and the other possibly nonsmooth. ZeroFPR is the first algorithm that, despite being fit for fully nonconvex problems and requiring only the black-box oracle of forward-backward splitting (FBS) --- namely evaluations of the gradient of the smooth term and of the proximity operator of the nonsmooth one --- achieves superlinear convergence rates under mild assumptions at the limit point when the linesearch directions satisfy a Dennis-Moré condition, and we show that this is the case for quasi-Newton directions. Our approach is based on the forward-backward envelope (FBE), an exact and strictly continuous penalty function for the original cost. Extending previous results we show that, despite being nonsmooth for fully nonconvex problems, the FBE still enjoys favorable first- and second-order properties which are key for the convergence results of ZeroFPR. Our theoretical results are backed up by promising numerical simulations. On large-scale problems, by computing linesearch directions using limited-memory quasi-Newton updates our algorithm greatly outperforms FBS and its accelerated variant (AFBS).

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arXiv2016

Forward-backward quasi-Newton methods for nonsmooth optimization problems

The forward-backward splitting method (FBS) for minimizing a nonsmooth composite function can be interpreted as a (variable-metric) gradient method over a continuously differentiable function which we call forward-backward envelope (FBE). This allows to extend algorithms for smooth unconstrained optimization and apply them to nonsmooth (possibly constrained) problems. Since the FBE and its gradient can be computed by simply evaluating forward-backward steps, the resulting methods rely on the very same black-box oracle as FBS. We propose an algorithmic scheme that enjoys the same global convergence properties of FBS when the problem is convex, or when the objective function possesses the Kurdyka-Łojasiewicz property at its critical points. Moreover, when using quasi-Newton directions the proposed method achieves superlinear convergence provided that usual second-order sufficiency conditions on the FBE hold at the limit point of the generated sequence. Such conditions translate into milder requirements on the original function involving generalized second-order differentiability. We show that BFGS fits our framework and that the limited-memory variant L-BFGS is well suited for large-scale problems, greatly outperforming FBS or its accelerated version in practice. The analysis of superlinear convergence is based on an extension of the Dennis and Moré theorem for the proposed algorithmic scheme.

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