A new challenge for learning algorithms in cyber-physical network systems is the distributed solution of big-data classification problems, i.e., problems in which both the number of training samples and their dimension is high. Motivated by several problem set-ups in Machine Learning, in this paper we consider a special class of quadratic optimization problems involving a "large" number of input data, whose dimension is "big". To solve these quadratic optimization problems over peer-to-peer networks, we propose an asynchronous, distributed algorithm that scales with both the number and the dimension of the input data (training samples in the classification problem). The proposed distributed optimization algorithm relies on the notion of "core-set" which is used in geometric optimization to approximate the value function associated to a given set of points with a smaller subset of points. By computing local core-sets on a smaller version of the global problem and exchanging them with neighbors, the nodes reach consensus on a set of active constraints representing an approximate solution for the global quadratic program.
This paper introduces the quadratically-constrained quadratic programming (QCQP) framework recently added in HPIPM alongside the original quadratic-programming (QP) framework. The aim of the new framework is unchanged, namely providing the building blocks to efficiently and reliably solve (more general classes of) optimal control problems (OCP). The newly introduced QCQP framework provides full features parity with the original QP framework: three types of QCQPs (dense, optimal control and tree-structured optimal control QCQPs) and interior point method (IPM) solvers as well as (partial) conde…
In this paper we present a dual active-set solver for quadratic programming which has properties suitable for use in embedded model predictive control applications. In particular, the solver is efficient, can easily be warm-started, and is simple to code. Moreover, the exact worst-case computational complexity of the solver can be determined offline and, by using outer proximal-point iterations, ill-conditioned problems can be handled in a robust manner.
This paper introduces HPIPM, a high-performance framework for quadratic programming (QP), designed to provide building blocks to efficiently and reliably solve model predictive control problems. HPIPM currently supports three QP types, and provides interior point method (IPM) solvers as well (partial) condensing routines. In particular, the IPM for optimal control QPs is intended to supersede the HPMPC solver, and it largely improves robustness while keeping the focus on speed. Numerical experiments show that HPIPM reliably solves challenging QPs, and that it outperforms other state-of-the-art…
We address the problem of scheduling water resources in a power system via approximate dynamic programming.To this goal, we model a finite horizon economic dispatch problemwith convex stage cost and affine dynamics, and consider aquadratic approximation of the value functions. Evaluating theachieved policy entails solving a quadratic program at each timestep, while value function fitting can be cast as a semidefiniteprogram. We test our proposed algorithm on a simplified versionof the Uruguayan power system, achieving a four percent costreduction with respect to the myopic policy
This note describes a reference governor design for a continuous-time nonlinear system with an additive disturbance. The design is based on predicting the response of the nonlinear system by the response of a linear model with a set-bounded prediction error, where a state-and-input dependent bound on the prediction error is explicitly characterized using logarithmic norms. The online optimization is reduced to a convex quadratic program with linear inequality constraints. Two numerical examples are reported.
This paper studies the finite-horizon linear quadratic regulation problem where the dynamics of the system are assumed to be unknown and the state is accessible. Information on the system is given by a finite set of input-state data, where the input injected in the system is persistently exciting of a sufficiently high order. Using data, the optimal control law is then obtained as the solution of a suitable semidefinite program. The effectiveness of the approach is illustrated via numerical examples.
This paper proposes a general formulation for temporal parallelisation of dynamic programming for optimal control problems. We derive the elements and associative operators to be able to use parallel scans to solve these problems with logarithmic time complexity rather than linear time complexity. We apply this methodology to problems with finite state and control spaces, linear quadratic tracking control problems, and to a class of nonlinear control problems. The computational benefits of the parallel methods are demonstrated via numerical simulations run on a graphics processing unit.
In this paper, we consider the quadratic programming problems under finitely many convex quadratic constraints in Hilbert spaces. By using the Legendre property of quadratic forms or the compactness of operators in the presentations of quadratic forms, we establish some sufficient conditions for the solution existence of the considered problems. As special cases, we obtain some existence solution results for the quadratic programming problems under linear constraints in Hilbert spaces.
Superlinear and quadratic convergence of a stabilized sequential quadratic semidefinite programming method for nonlinear semidefinite programming problems
A quadratically constrained quadratic programming problem is considered in a Hilbert space setting, where neither the objective nor the constraint are convex functions. Necessary and sufficient conditions are provided to guarantee that the problem admits solutions for every initial data (in an adequate set).
We investigate the use of linear programming tools for solving semidefinite programming relaxations of quadratically constrained quadratic problems. Classes of valid linear inequalities are presented, including sparse PSD cuts, and principal minors PSD cuts. Computational results based on instances from the literature are presented.
In this paper, we consider the nonconvex quadratically constrained quadratic programming (QCQP) with one quadratic constraint. By employing the conjugate gradient method, an efficient algorithm is proposed to solve QCQP that exploits the sparsity of the involved matrices and solves the problem via solving a sequence of positive definite system of linear equations after identifying suitable generalized eigenvalues. Some numerical experiments are given to show the effectiveness of the proposed method and to compare it with some recent algorithms in the literature.
We introduce the Suggest-and-Improve framework for general nonconvex quadratically constrained quadratic programs (QCQPs). Using this framework, we generalize a number of known methods and provide heuristics to get approximate solutions to QCQPs for which no specialized methods are available. We also introduce an open-source Python package QCQP, which implements the heuristics discussed in the paper.
Given bounded selfadjoint operators $A$ and $B$ acting on a Hilbert space $\mathcal{H}$, consider the linear pencil $P(λ)=A+λB$, $λ\in\mathbb{R}$. The set of parameters $λ$ such that $P(λ)$ is a positive (semi)definite operator is characterized. These results are applied to solving a quadratic programming problem with an equality quadratic constraint (or a QP1EQC problem).
We consider the problem of approximately solving a standard bi-quadratic programming (StBQP), which is NP-hard. After reformulating the original problem as an equivalent copositive tensor programming, we show how to approximate the optimal solution by approximating the cone of copositive tensors via a serial polyhedral cones. The established quality of approximation shows that, a polynomial time approximation scheme (PTAS) for solving StBQP exists and can be extended to solving standard multi-quadratic programming. Some numerical examples are provided to illustrate our approach.
In this paper, we analyze in depth a simplicial decomposition like algorithmic framework for large scale convex quadratic programming. In particular, we first propose two tailored strategies for handling the master problem. Then, we describe a few techniques for speeding up the solution of the pricing problem. We report extensive numerical experiments on both real portfolio optimization and general quadratic programming problems, showing the efficiency and robustness of the method when compared to Cplex.
An equivalence between attainability of simultaneous diagonalization (SD) and hidden convexity in quadratically constrained quadratic programming (QCQP) stimulates us to investigate necessary and sufficient SD conditions, which is one of the open problems posted by Hiriart-Urruty (SIAM Rev., 49 (2007), pp. 255-273) nine years ago. In this paper we give a necessary and sufficient SD condition for any two real symmetric matrices and offer a necessary and sufficient SD condition for any finite collection of real symmetric matrices under the existence assumption of a semi-definite matrix pencil. M…
The radius of the outer Dikin ellipsoid of the intersection of $m$ ellipsoids due to Fu et al. (J. Comb. Optim., 2, 29-50, 1998) is corrected from $m$ to $\sqrt{m^2+m}$. The approximation bound for the general convex quadratic constrained nonconvex quadratic program is correspondingly corrected.
In this paper, we study some bounds for nonconvex quadratically constrained quadratic programs. We propose two types of bounds for quadratically constrained quadratic programs, quadratic and cubic bounds. For quadratic bounds, we use affine functions as Lagrange multipliers. We demonstrate that most semi-definite relaxations can be obtained as the dual of a quadratic bound. In addition, we study bounds obtained by changing the ground set. For cubic bounds, in addition to affine multipliers we employ quadratic functions. We provide a comparison between the proposed cubic bound and typical bound…
We present a short step interior point method for solving a class of nonlinear programming problems with quadratic objective function. Convex quadratic programming problems can be reformulated as problems in this class. The method is shown to have weak polynomial time complexity. A complete proof of the numerical stability of the method is provided. No requirements on feasibility, row-rank of the constraint Jacobian, strict complementarity, or conditioning of the problem are made. Infeasible problems are solved to an optimal interior least-squares solution.
Multicriterion optimization and Pareto optimality are fundamental tools in economics. In this paper we propose a new relaxation method for solving multiple objective quadratic programming problems. Exploiting the technique of the linear weighted sum method, we reformulate the original multiple objective quadratic programming problems into a single objective one. Since such single objective quadratic programming problem is still nonconvex and NP-hard in general. By using the techniques of lifting and doubly nonnegative relaxation, respectively, this single objective quadratic programming proble…
The purpose of this paper is to study a non-convex fuzzy multi-objective quadratic programming problem, in which both the technological coefficients and resources are fuzzy with nonlinear membership function. A computational procedure to find a fuzzy efficient solution of this problem is developed. A numerical example is given to illustrate the procedure.
This paper provides the first meaningful documentation and analysis of an established technique which aims to obtain an approximate solution to linear programming problems prior to applying the primal simplex method. The underlying algorithm is a penalty method with naive approximate minimization in each iteration. During initial iterations an approach similar to augmented Lagrangian is used. Later the technique corresponds closely to a classical quadratic penalty method. There is also a discussion of the extent to which it can be used to obtain fast approximate solutions of LP problems, in pa…
In this paper, we give a new penalized semidefinite programming approach for non-convex quadratically-constrained quadratic programs (QCQPs). We incorporate penalty terms into the objective of convex relaxations in order to retrieve feasible and near-optimal solutions for non-convex QCQPs. We introduce a generalized linear independence constraint qualification (GLICQ) criterion and prove that any GLICQ regular point that is sufficiently close to the feasible set can be used to construct an appropriate penalty term and recover a feasible solution. Inspired by these results, we develop a heurist…
We present an efficient algorithm for solving fractional programming problems whose objective functions are the ratio of a low-rank quadratic to a positive definite quadratic with convex constraints. The proposed algorithm for these convex-convex problems is based on the Shen-Yu Quadratic Transform which finds stationary points of concave-convex sum-of-ratios problems. We further use elements of the algorithm proposed in [arXiv:1802.10192] and the classic Dinkelbach approach to ensure convergence. We show that our algorithm performs better than previous algorithms for low-rank problems.
It has recently been shown (Burer, Math. Program Ser. A 120:479-495, 2009) that a large class of NP-hard nonconvex quadratic programming problems can be modeled as so called completely positive programming problems, which are convex but still NP-hard in general. A basic tractable relaxation is gotten by doubly nonnegative relaxation, resulting in a doubly nonnegative programming. In this paper, we prove that doubly nonnegative relaxation for binary quadratic programming (BQP) problem is equivalent to a tighter semidifinite relaxation for it. When problem (BQP) reduces to max-cut (MC) problem, …
We extend the notion of some energy-type expressions based on two sets, developed in the abstract potential theory. We also give the discretized version of the quantities defined, similar to Chebyshev constant. This extension allows to apply the potential-theoretic results to infinite quadratic programming problems. Together with a cutting plane algorithm, the Chebyshev-constant method ensures that under certain conditions, the infinite problem can be reduced to semi-infinite or to finite problems.
We consider the problem of partitioning the node set of a graph into $k$ sets of given sizes in order to \emph{minimize the cut} obtained using (removing) the $k$-th set. If the resulting cut has value $0$, then we have obtained a vertex separator. This problem is closely related to the graph partitioning problem. In fact, the model we use is the same as that for the graph partitioning problem except for a different \emph{quadratic} objective function. We look at known and new bounds obtained from various relaxations for this NP-hard problem. This includes: the standard eigenvalue bound, proje…
Sequential Quadratic Programming (SQP) is a powerful class of algorithms for solving nonlinear optimization problems. Local convergence of SQP algorithms is guaranteed when the Hessian approximation used in each Quadratic Programming subproblem is close to the true Hessian. However, a good Hessian approximation can be expensive to compute. Low cost Hessian approximations only guarantee local convergence under some assumptions, which are not always satisfied in practice. To address this problem, this paper proposes a simple method to guarantee local convergence for SQP with poor Hessian approxi…
Among many approaches to increase the computational efficiency of semidefinite programming (SDP) relaxation for quadratic constrained quadratic programming problems (QCQPs), exploiting the aggregate sparsity of the data matrices in the SDP by Fukuda et al. (2001) and second-order cone programming (SOCP) relaxation have been popular. In this paper, we exploit the aggregate sparsity of SOCP relaxation of QCQPs. Specifically, we prove that exploiting the aggregate sparsity reduces the number of second-order cones in the SOCP relaxation, and that we can simplify the matrix completion procedure by …
A novel algorithm to solve the quadratic programming problem over ellipsoids is proposed. This is achieved by splitting the problem into two optimisation sub-problems, quadratic programming over a sphere and orthogonal projection. Next, an augmented-Lagrangian algorithm is developed for this multiple constraint optimisation. Benefit from the fact that the QP over a single sphere can be solved in a closed form by solving a secular equation, we derive a tighter bound of the minimiser of the secular equation. We also propose to generate a new psd matrix with a low condition number from the matric…
A standard quadratic program is an optimization problem that consists of minimizing a (nonconvex) quadratic form over the unit simplex. We focus on reformulating a standard quadratic program as a mixed integer linear programming problem. We propose two alternative mixed integer linear programming formulations. Our first formulation is based on casting a standard quadratic program as a linear program with complementarity constraints. We then employ binary variables to linearize the complementarity constraints. For the second formulation, we first derive an overestimating function of the objecti…
University of Texas, Arlington（德克萨斯大学阿灵顿分校）；Cognitiv；University of California, Berkeley（加州大学伯克利分校）
For general quadratically-constrained quadratic programming (QCQP), we propose a parabolic relaxation described with convex quadratic constraints. An interesting property of the parabolic relaxation is that the original non-convex feasible set is contained on the boundary of the parabolic relaxation. Under certain assumptions, this property enables one to recover near-optimal feasible points via objective penalization. Moreover, through an appropriate change of coordinates that requires a one-time computation of an optimal basis, the easier-to-solve parabolic relaxation can be made as strong a…
We prove that a "first-order" Sequential Quadratic Programming (SQP) algorithm for equality constrained optimization has local linear convergence with rate $(1-1/κ_R)^k$, where $κ_R$ is the condition number of the Riemannian Hessian, and global convergence with rate $k^{-1/4}$. Our analysis builds on insights from Riemannian optimization -- we show that the SQP and Riemannian gradient methods have nearly identical behavior near the constraint manifold, which could be of broader interest for understanding constrained optimization.
We propose a feasible active set method for convex quadratic programming problems with non-negativity constraints. This method is specifically designed to be embedded into a branch-and-bound algorithm for convex quadratic mixed integer programming problems. The branch-and-bound algorithm generalizes the approach for unconstrained convex quadratic integer programming proposed by Buchheim, Caprara and Lodi to the presence of linear constraints. The main feature of the latter approach consists in a sophisticated preprocessing phase, leading to a fast enumeration of the branch-and-bound nodes. Mor…
New reformulations for 0-1 quadratic programming problem using quadratic nonconvex reformulation techniques and valid inequalities
North China Electric Power University（华北电力大学）；Zhejiang University of Technology（浙江工业大学）；University of Chinese Academy of Sciences（中国科学院大学）；Beijing Institute of Technology（北京理工大学）
The quadratic programming over one inequality quadratic constraint (QP1QC) is a very special case of quadratically constrained quadratic programming (QCQP) and attracted much attention since early 1990's. It is now understood that, under the primal Slater condition, (QP1QC) has a tight SDP relaxation (PSDP). The optimal solution to (QP1QC), if exists, can be obtained by a matrix rank one decomposition of the optimal matrix X? to (PSDP). In this paper, we pay a revisit to (QP1QC) by analyzing the associated matrix pencil of two symmetric real matrices A and B, the former matrix of which defines…
This paper investigates an infinite-horizon linear quadratic stochastic (LQS) optimal control problem for a class of continuous-time stochastic systems. By employing the technique of adaptive dynamic programming (ADP), we propose a novel model-free policy iteration (PI) algorithm. Without needing all information of the system coefficient matrices, the proposed PI algorithm iterates by using the data of the input and system state collected on a fixed time interval. Finally, a numerical example is presented to demonstrate the feasibility of the obtained algorithm.
In this paper, a class of general nonlinear programming problems with inequality and equality constraints is discussed. Firstly, the original problem is transformed into an associated simpler equivalent problem with only inequality constraints. Then, inspired by the ideals of sequential quadratic programming (SQP) method and the method of system of linear equations (SLE), a new type of SQP algorithm for solving the original problem is proposed. At each iteration, the search direction is generated by the combination of two directions, which are obtained by solving an always feasible quadratic p…
We present a method for solving the general mixed constrained convex quadratic programming problem using an active set method on the dual problem. The approach is similar to existing active set methods, but we present a new way of solving the linear systems arising in the algorithm. There are two main contributions; we present a new way of factorizing the linear systems, and show how iterative refinement can be used to achieve good accuracy and to solve both types of sub-problems that arise from semi-definite problems.
Ordinary differential equations that model technical systems often contain states, that are considered dangerous for the system. A trajectory that reaches such a state usually indicates a flaw in the design. In this paper, we present and study the properties of an algorithm for finding such trajectories. That is, for a given ordinary differential equation, the algorithm finds a trajectory that originates in one set of states and reaches another one. The algorithm is based on sequential quadratic programming applied to a regularized optimization problem obtained by multiple shooting.
In this paper, we discuss the solution of a Quadratic Eigenvalue Complementarity Problem (QEiCP) by using Difference of Convex (DC) programming approaches. We first show that QEiCP can be represented as dc programming problem. Then we investigate different dc programming formulations of QEiCP and discuss their dc algorithms based on a well-known method -- DCA. A new local dc decomposition is proposed which aims at constructing a better dc decomposition regarding to the specific feature of the target problem in some neighborhoods of the iterates. This new procedure yields faster convergence and…
We propose a method for low-rank semidefinite programming in application to the semidefinite relaxation of unconstrained binary quadratic problems. The method improves an existing solution of the semidefinite programming relaxation to achieve a lower rank solution. This procedure is computationally efficient as it does not require projecting on the cone of positive-semidefinite matrices. Its performance in terms of objective improvement and rank reduction is tested over multiple graphs of large-scale Gset graph collection and over binary optimization problems from the Biq Mac collection.
A Sequential Quadratic Programming Method for Optimization with Stochastic Objective Functions, Deterministic Inequality Constraints and Robust Subproblems
Non-convex quadratically constrained quadratic programming (QCQP) problems have numerous applications in signal processing, machine learning, and wireless communications, albeit the general QCQP is NP-hard, and several interesting special cases are NP-hard as well. This paper proposes a new algorithm for general QCQP. The problem is first reformulated in consensus optimization form, to which the alternating direction method of multipliers (ADMM) can be applied. The reformulation is done in such a way that each of the sub-problems is a QCQP with only one constraint (QCQP-1), which is efficientl…
This is Part II of a study on mixed-integer programming (MIP) relaxation techniques for the solution of non-convex mixed-integer quadratically constrained quadratic programs (MIQCQPs). We set the focus on MIP relaxation methods for non-convex continuous variable products and extend the well-known MIP relaxation normalized multi-parametric disaggregation technique (NMDT), applying a sophisticated discretization to both variables. We refer to this approach as doubly discretized normalized multiparametric disaggregation technique (D-NMDT). In a comprehensive theoretical analysis, we underline the…
Applying an interior-point method to the central-path conditions is a widely used approach for solving quadratic programs. Reformulating these conditions in the log-domain is a natural variation on this approach that to our knowledge is previously unstudied. In this paper, we analyze log-domain interior-point methods and prove their polynomial-time convergence. We also prove that they are approximated by classical barrier methods in a precise sense and provide simple computational experiments illustrating their superior performance.
In this paper we will discuss two variants of an inexact feasible interior point algorithm for convex quadratic programming. We will consider two different neighbourhoods: a (small) one induced by the use of the Euclidean norm which yields a short-step algorithm and a symmetric one induced by the use of the infinity norm which yields a (practical) long-step algorithm. Both algorithms allow for the Newton equation system to be solved inexactly. For both algorithms we will provide conditions for the level of error acceptable in the Newton equation and establish the worst-case complexity results.
The Big Data phenomenon has spawned large-scale linear programming problems. In many cases, these problems are non-stationary. In this paper, we describe a new scalable algorithm called NSLP for solving high-dimensional, non-stationary linear programming problems on modern cluster computing systems. The algorithm consists of two phases: Quest and Targeting. The Quest phase calculates a solution of the system of inequalities defining the constraint system of the linear programming problem under the condition of dynamic changes in input data. To this end, the apparatus of Fejer mappings is used.…
Mixed integer quadratic programming (MIQP) is the problem of minimizing a convex quadratic function over mixed integer points in a rational polyhedron. This paper focuses on the augmented Lagrangian dual (ALD) for MIQP. ALD augments the usual Lagrangian dual with a weighted nonlinear penalty on the dualized constraints. We first prove that ALD will reach a zero duality gap asymptotically as the weight on the penalty goes to infinity under some mild conditions on the penalty function. We next show that a finite penalty weight is enough for a zero gap when we use any norm as the penalty function…
