arXiv subjects

Changzhi Wu

Publications and source records attributed to Changzhi Wu.

6 recordsLinked to original sources

arXiv2026

DRCC-LPVMPC: Robust Data-Driven Control for Autonomous Driving and Obstacle Avoidance

Safety in obstacle avoidance is critical for autonomous driving. While model predictive control (MPC) is widely used, simplified prediction models such as linearized or single-track vehicle models introduce discrepancies between predicted and actual behavior that can compromise safety. This paper proposes a distributionally robust chance-constrained linear parameter-varying MPC (DRCC-LPVMPC) framework that explicitly accounts for such discrepancies. The single-track vehicle dynamics are represented in a quasi-linear parameter-varying (quasi-LPV) form, with model mismatches treated as additive uncertainties of unknown distribution. By constructing chance constraints from finite sampled data and employing a Wasserstein ambiguity set, the proposed method avoids restrictive assumptions on boundedness or Gaussian distributions. The resulting DRCC problem is reformulated as tractable convex constraints and solved in real time using a quadratic programming solver. Recursive feasibility of the approach is formally established. Simulation and real-world experiments demonstrate that DRCC-LPVMPC maintains safer obstacle clearance and more reliable tracking than conventional nonlinear MPC and LPVMPC controllers under significant uncertainties.

eess.SY↗

arXiv2016

A robust optimal control problem with moment constraints on distribution: theoretical analysis and an algorithm

We study an optimal control problem in which both the objective function and the dynamic constraint contain an uncertain parameter. Since the distribution of this uncertain parameter is not exactly known, the objective function is taken as the worst-case expectation over a set of possible distributions of the uncertain parameter. This ambiguity set of distributions is, in turn, defined by the first two moments of the random variables involved. The optimal control is found by minimizing the worst-case expectation over all possible distributions in this set. If the distributions are discrete, the stochastic min-max optimal control problem can be converted into a convensional optimal control problem via duality, which is then approximated as a finite-dimensional optimization problem via the control parametrization. We derive necessary conditions of optimality and propose an algorithm to solve the approximation optimization problem. The results of discrete probability distribution are then extended to the case with one dimensional continuous stochastic variable by applying the control parametrization methodology on the continuous stochastic variable, and the convergence results are derived. A numerical example is present to illustrate the potential application of the proposed model and the effectiveness of the algorithm.

math.OC↗

arXiv2012

Canonical Primal-Dual Method for Solving Non-convex Minimization Problems

A new primal-dual algorithm is presented for solving a class of non-convex minimization problems. This algorithm is based on canonical duality theory such that the original non-convex minimization problem is first reformulated as a convex-concave saddle point optimization problem, which is then solved by a quadratically perturbed primal-dual method. %It is proved that the popular SDP method is indeed a special case of the canonical duality theory. Numerical examples are illustrated. Comparing with the existing results, the proposed algorithm can achieve better performance.

math.NA↗

arXiv2012

On the Triality Theory in Global Optimization

Triality theory is proved for a general unconstrained global optimization problem. The method adopted is simple but mathematically rigorous. Results show that if the primal problem and its canonical dual have the same dimension, the triality theory holds strongly in the tri-duality form as it was originally proposed. Otherwise, both the canonical min-max duality and the double-max duality still hold strongly, but the double-min duality holds weakly in a super-symmetrical form as it was expected. Additionally, a complementary weak saddle min-max duality theorem is discovered. Therefore, an open problem on this statement left in 2003 is solved completely. This theory can be used to identify not only the global minimum, but also the largest local minimum, maximum, and saddle points. Application is illustrated. Some fundamental concepts in optimization and remaining challenging problems in canonical duality theory are discussed.

math.OC↗

arXiv2011

On the Triality Theory for a Quartic Polynomial Optimization Problem

This paper presents a detailed proof of the triality theorem for a class of fourth-order polynomial optimization problems. The method is based on linear algebra but it solves an open problem on the double-min duality left in 2003. Results show that the triality theory holds strongly in a tri-duality form if the primal problem and its canonical dual have the same dimension; otherwise, both the canonical min-max duality and the double-max duality still hold strongly, but the double-min duality holds weakly in a symmetrical form. Four numerical examples are presented to illustrate that this theory can be used to identify not only the global minimum, but also the largest local minimum and local maximum.

math.OC↗

arXiv2011

Optimal atomic-resolution structures of prion AGAAAAGA amyloid fibrils

X-ray crystallography is a powerful tool to determine the protein 3D structure. However, it is time-consuming and expensive, and not all proteins can be successfully crystallized, particularly for membrane proteins. Although nuclear magnetic resonance (NMR) spectroscopy is indeed a very powerful tool in determining the 3D structures of membrane proteins, it is also time-consuming and costly. To the best of the authors' knowledge, there is little structural data available on the AGAAAAGA palindrome in the hydrophobic region (113-120) of prion proteins due to the noncrystalline and insoluble nature of the amyloid fibril, although many experimental studies have shown that this region has amyloid fibril forming properties and plays an important role in prion diseases. In view of this, the present study is devoted to address this problem from computational approaches such as global energy optimization, simulated annealing, and structural bioinformatics. The optimal atomic-resolution structures of prion AGAAAAGA amyloid fibils reported in this paper have a value to the scientific community in its drive to find treatments for prion diseases.

q-bio.BM↗