Mathematical programs with complementarity constraints are notoriously difficult to solve due to their nonconvexity and lack of constraint qualifications in every feasible point. This work focuses on the subclass of quadratic programs with linear complementarity constraints. A novel approach to solving a penalty reformulation using sequential convex programming and a homotopy on the penalty parameter is introduced. Linearizing the necessarily nonconvex penalty function yields convex quadratic subproblems, which have a constant Hessian matrix throughout all iterates. This allows solution computation with a single KKT matrix factorization. Furthermore, a globalization scheme is introduced in which the underlying merit function is minimized analytically, and guarantee of descent is provided at each iterate. The algorithmic features and possible computational speedups are illustrated in a numerical experiment.
The robust truss topology optimization against the uncertain static external load can be formulated as mixed-integer semidefinite programming. Although a global optimal solution can be computed with a branch-and-bound method, it is very time-consuming. This paper presents an alternative formulation, semidefinite programming with complementarity constraints, and proposes an efficient heuristic. The proposed method is based upon the convex-concave procedure for DC (difference-of-convex) programming. It is shown that the method can often find a practically reasonable truss design within the compu…
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 an algorithm for solving bound-constrained mathematical programs with complementarity constraints on the variables. Each iteration of the algorithm involves solving a linear program with complementarity constraints in order to obtain an estimate of the active set. The algorithm enforces descent on the objective function to promote global convergence to B-stationary points. We provide a convergence analysis and preliminary numerical results on a range of test problems. We also study the effect of fixing the active constraints in a bound-constrained quadratic program that can be solve…
Augmented Lagrangian methods for nonlinear semidefinite programming with complementarity constraints
Federal University of São Paulo（圣保罗联邦大学）；State University of Maringá（马林加州立大学）；Federal University of Paraná（巴拉那联邦大学）；Instituto Federal de Santa Catarina (IFSC)（圣卡塔琳娜联邦学院）
In this paper, we establish a new approach to solve the tensor complementarity problem (TCP). A mixed integer programming model is given and the TCP is solved by solving the model. The TCP is shown to be formulated as an equivalent mixed integer feasibility problem. Based on the reformulation, some conditions are obtained to guarantee the solvability of the TCP. Specially, a sufficient condition is given for TCP without solutions. A necessary and sufficient condition is given for existence of solutions. We also give a concrete bound for the solution set of the TCP with positive definite tensor…
In this paper, we provide an elementary, geometric, and unified framework to analyze conic programs that we call the strict complementarity approach. This framework allows us to establish error bounds and quantify the sensitivity of the solution. The framework uses three classical ideas from convex geometry and linear algebra: linear regularity of convex sets, facial reduction, and orthogonal decomposition. We show how to use this framework to derive error bounds for linear programming (LP), second order cone programming (SOCP), and semidefinite programming (SDP).
In view of the KS-tensor complementarity problem, the sparse solution of this problem is studied. Due to the nonconvexity and noncontinuity of the l_0-norm, it is a NP hard problem to find the sparse solution of the KS-tensor complementarity problem. In order to solve this problem, we transform it into a polynomial programming problem with constraints. Then we use the sequential quadratic programming (SQP) algorithm to solve this transformed problem. Numerical results show that the SQP algorithm can find the sparse solutions of the KS-tensor complementarity problem effectively.
This work is a geometrical approach to the optimization problem motivated by transportation system management. First, an attempt has been made to furnish a comprehensive account of geometric programming based on the elementary Finsler geometry in $I\!\!R^n$. Then, a Finslerian dynamical model for the nonlinear complementarity problem of traffic equilibrium is presented that may be applied for different equilibrium problems.
Linear complementarity programming is a generalization of linear programming which encompasses the computation of Nash equilibria for bimatrix games. While the latter problem is PPAD-complete, we show that the tropical analogue of the complementarity problem associated with Nash equilibria can be solved in polynomial time. Moreover, we prove that the Lemke--Howson algorithm carries over the tropical setting and performs a linear number of pivots in the worst case. A consequence of this result is a new class of (classical) bimatrix games for which Nash equilibria computation can be done in poly…
Asymptotic stationarity and regularity conditions turned out to be quite useful to study the qualitative properties of numerical solution methods for standard nonlinear and complementarity-constrained programs. In this paper, we first extend these notions to nonlinear optimization problems with nonsmooth but Lipschitzian data functions in order to find reasonable notions of asymptotic stationarity and regularity in terms of Clarke's and Mordukhovich's subdifferential construction. Particularly, we compare the associated novel asymptotic constraint qualifications with already existing ones. The…
This paper studies tensor eigenvalue complementarity problems. Basic properties of standard and complementarity tensor eigenvalues are discussed. We formulate tensor eigenvalue complementarity problems as constrained polynomial optimization. When one tensor is strictly copositive, the complementarity eigenvalues can be computed by solving polynomial optimization with normalization by strict copositivity. When no tensor is strictly copositive, we formulate the tensor eigenvalue complementarity problem equivalently as polynomial optimization by a randomization process. The complementarity eigenv…
OMRON SINIC X Corp.（欧姆龙 SINIC X 公司）；Kyoto University（京都大学）；OMRON SINIC X Corporation（欧姆龙 SINIC X 公司）
Contact-rich manipulation is challenging due to dynamically-changing physical constraints by the contact mode changes undergone during manipulation. This paper proposes a versatile local planning and control framework for contact-rich manipulation that determines the continuous control action under variable contact modes online. We model the physical characteristics of contact-rich manipulation by quasistatic dynamics and complementarity constraints. We then propose a linear complementarity quadratic program (LCQP) to efficiently determine the control action that implicitly includes the decisi…
Consider a homogeneous multifold convex conic system $$ Ax = 0, \; x\in K_1\times...\times K_r $$ and its alternative system $$ A\transp y \in K_1^*\times...\times K_r^*, $$ where $K_1,..., K_r$ are regular closed convex cones. We show that there is canonical partition of the index set ${1,...,r}$ determined by certain complementarity sets associated to the most interior solutions to the two systems. Our results are inspired by and extend the Goldman-Tucker Theorem for linear programming.
In this paper, we are interested in developing an accelerated Difference-of-Convex (DC) programming algorithm based on the exact line search for efficiently solving the Symmetric Eigenvalue Complementarity Problem (SEiCP) and Symmetric Quadratic Eigenvalue Complementarity Problem (SQEiCP). We first proved that any SEiCP is equivalent to SEiCP with symmetric positive definite matrices only. Then, we established DC programming formulations for two equivalent formulations of SEiCP (namely, the logarithmic formulation and the quadratic formulation), and proposed the accelerated DC algorithm (BDCA)…
Finding the sparsest solutions to a tensor complementarity problem is generally NP-hard due to the nonconvexity and noncontinuity of the involved $\ell_0$ norm. In this paper, a special type of tensor complementarity problems with $Z$-tensors has been considered. Under some mild conditions, we show that to pursuit the sparsest solutions is equivalent to solving polynomial programming with a linear objective function. The involved conditions guarantee the desired exact relaxation and also allow to achieve a global optimal solution to the relaxed nonconvex polynomial programming problem. Particu…
In this article we introduce $K$-type block matrices which include two new classes of block matrices namely block triangular $K$-matrices and hidden block triangular $K$-matrices. We show that the solution of linear complementarity problem with $K$-type block matrices can be obtained by solving a linear programming problem. We show that block triangular $K$-matrices satisfy least element property. We prove that hidden block triangular $K$-matrices are $Q_0$ and processable by Lemke's algorithm. The purpose of this article is to study properties of $K$-type block matrices in the context of the …
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…
Cornell University（康奈尔大学）；California Institute of Technology（加州理工学院）
This paper develops a new storage-optimal algorithm that provably solves generic semidefinite programs (SDPs) in standard form. This method is particularly effective for weakly constrained SDPs. The key idea is to formulate an approximate complementarity principle: Given an approximate solution to the dual SDP, the primal SDP has an approximate solution whose range is contained in the eigenspace with small eigenvalues of the dual slack matrix. For weakly constrained SDPs, this eigenspace has very low dimension, so this observation significantly reduces the search space for the primal solution.…
Second-order necessary optimality conditions for nonlinear conic programming problems that depend on a single Lagrange multiplier are usually built under nondegeneracy and strict complementarity. In this paper we establish a condition of such type for two classes of nonlinear conic problems, namely semidefinite and second-order cone programming, assuming Robinson's constraint qualification and a weak constant rank-type property which are, together, strictly weaker than nondegeneracy. Our approach is done via a penalty-based strategy, which is aimed at providing strong global convergence result…
We give a polynomial-time dynamic programming algorithm for solving the linear complementarity problem with tridiagonal or, more generally, Hessenberg P-matrices. We briefly review three known tractable matrix classes and show that none of them contains all tridiagonal P-matrices.
The non-convex quadratic orogramming problem and the non-monotone linear complementarity problem are NP-complete problems. In this paper we first show taht the inverse problem of determinning a KKT point of the non-convex quadratic programming problem is polynomial. We then show that the inverse problems of non-monotone linear complementarity problem are polynomial solvable in some cases, and in another case is NP-hard. Therefore we solve an open question raised by Heuberger on inverse NP-hard problems and prove that CoNP=NP.
In this paper, we consider the second-order cone tensor eigenvalue complementarity problem (SOCTEiCP) and present three different reformulations to the model under consideration. Specifically, for the general SOCTEiCP, we first show its equivalence to a particular variational inequality under reasonable conditions. A notable benefit is that such a reformulation possibly provides an efficient way for the study of properties of the problem. Then, for the symmetric and sub-symmetric SOCTEiCPs, we reformulate them as appropriate nonlinear programming problems, which are extremely beneficial for de…
In this article, we introduce a new homotopy function to trace the trajectory by applying modified homotopy continuation method for finding the solution of the linear complementarity problem. Earlier several authors attempted to propose homotopy functions based on original problems. We propose the homotopy function based on the Karush-Kuhn-Tucker condition of the corresponding quadratic programming problem. The proposed approach extends the processability of the larger class of linear complementarity problem and overcomes the limitations of other existing homotopy approaches. We show that the …
A weighted complementarity problem (wCP) is to find a pair of vectors belonging to the intersection of a manifold and a cone such that the product of the vectors in a certain algebra equals a given weight vector. If the weight vector is zero, we get a complementarity problem. Examples of such problems include the Fisher market equilibrium problem and the linear programming and weighted centering problem. In this paper we consider the weighted horizontal linear complementarity problem (wHLCP) in the setting of Euclidean Jordan algebras and establish some existence and uniqueness results. For a …
A sequential piecewise linear programming method is presented where bounded domains of non-convex functions are successively contracted about the solution of a piecewise linear program at each iteration of the algorithm. Although feasibility and optimality are not guaranteed, we show that the method is capable of obtaining convergent and optimal solutions on a number of Nonlinear Programming (NLP) and Mixed Integer Nonlinear Programming (MINLP) problems using only a small number of breakpoints and integer variables.
This paper develops a novel control synthesis method for safe stabilization of control-affine systems as a Differential Complementarity Problem (DCP). Our design uses a control Lyapunov function (CLF) and a control barrier function (CBF) to define complementarity constraints in the DCP formulation to certify stability and safety, respectively. The CLF-CBF-DCP controller imposes stability as a soft constraint, which is automatically relaxed when the safety constraint is active, without the need for parameter tuning or optimization. We study the closed-loop system behavior with the CLF-CBF-DCP c…
Superlinear and quadratic convergence of a stabilized sequential quadratic semidefinite programming method for nonlinear semidefinite programming problems
A linear program with linear complementarity constraints (LPCC) requires the minimization of a linear objective over a set of linear constraints together with additional linear complementarity constraints. This class has emerged as a modeling paradigm for a broad collection of problems, including bilevel programs, Stackelberg games, inverse quadratic programs, and problems involving equilibrium constraints. The presence of the complementarity constraints results in a nonconvex optimization problem. We develop a branch-and-cut algorithm to find a global optimum for this class of optimization pr…
In this paper, in the absence of any constraint qualifications, we develop sequential necessary and sufficient optimality conditions for a constrained multiobjective fractional programming problem characterizing a Henig proper efficient solution in terms of the $ε$-subdifferentials and the subdifferentials of the functions. This is achieved by employing a sequential Henig subdifferential calculus rule of the sums of $m \ (m\geq 2)$ proper convex vector valued mappings with a composition of two convex vector valued mappings. In order to present an example illustrating the main results of this p…
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 present new constraint qualification conditions for nonlinear semidefinite programming that extend some of the constant rank-type conditions from nonlinear programming. As an application of these conditions, we provide a unified global convergence proof of a class of algorithms to stationary points without assuming neither uniqueness of the Lagrange multiplier nor boundedness of the Lagrange multipliers set. This class of algorithm includes, for instance, general forms of augmented Lagrangian, sequential quadratic programming, and interior point methods. We also compare these new conditions…
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 article, an efficient sequential linear programming algorithm (SLP) for uncertainty analysis-based data-driven computational mechanics (UA-DDCM) is presented. By assuming that the uncertain constitutive relationship embedded behind the prescribed data set can be characterized through a convex combination of the local data points, the upper and lower bounds of structural responses pertaining to the given data set, which are more valuable for making decisions in engineering design, can be found by solving a sequential of linear programming problems very efficiently. Numerical examples de…
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.
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…
This paper proposes an algorithmic framework for solving parametric optimization problems which we call adjoint-based predictor-corrector sequential convex programming. After presenting the algorithm, we prove a contraction estimate that guarantees the tracking performance of the algorithm. Two variants of this algorithm are investigated. The first one can be used to solve nonlinear programming problems while the second variant is aimed to treat online parametric nonlinear programming problems. The local convergence of these variants is proved. An application to a large-scale benchmark problem…
A Sequential Quadratic Programming Method for Optimization with Stochastic Objective Functions, Deterministic Inequality Constraints and Robust Subproblems
Randomized Branch Methods with Inexact Subproblems for Bouligand Stationarity in Linear and Quadratic Programs with Complementarity Constraints
Southern University of Science and Technology（南方科技大学）；Institute of Computational Mathematics and Scientific/Engineering Computing, Academy of Mathematics and Systems Science, Chinese Academy of Sciences（中国科学院数学与系统科学研究院计算数学与科学工程计算研究所）；University of Chinese Academy of Sciences（中国科学院大学）；National Center for Applied Mathematics Shenzhen（深圳应用数学国家研究中心）
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…
In this paper, we propose a stochastic method for solving equality constrained optimization problems that utilizes predictive variance reduction. Specifically, we develop a method based on the sequential quadratic programming paradigm that employs variance reduction in the gradient approximations. Under reasonable assumptions, we prove that a measure of first-order stationarity evaluated at the iterates generated by our proposed algorithm converges to zero in expectation from arbitrary starting points, for both constant and adaptive step size strategies. Finally, we demonstrate the practical p…
Multistage stochastic programming deals with operational and planning problems that involve a sequence of decisions over time while responding to realizations that are uncertain. Algorithms designed to address multistage stochastic linear programming (MSLP) problems often rely upon scenario trees to represent the underlying stochastic process. When this process exhibits stagewise independence, sampling-based techniques, particularly the stochastic dual dynamic programming (SDDP) algorithm, have received wide acceptance. However, these sampling-based methods still operate with a deterministic r…
In this article, a globally convergent sequential quadratic programming (SQP) method is developed for multi-objective optimization problems with inequality type constraints. A feasible descent direction is obtained using a linear approximation of all objective functions as well as constraint functions. The sub-problem at every iteration of the sequence has feasible solution. A non-differentiable penalty function is used to deal with constraint violations. A descent sequence is generated which converges to a critical point under the Mangasarian-Fromovitz constraint qualification along with some…
A computationally efficient method to solve non-convex programming problems with linear equality constraints is presented. The proposed method is based on a recursively feasible and descending sequential convex programming procedure proven to converge to a locally optimal solution. Assuming that the first convex problem in the sequence is feasible, these properties are obtained by convexifying the non-convex cost and inequality constraints with inner-convex approximations. Additionally, a computationally efficient method is introduced to obtain inner-convex approximations based on Taylor serie…
This paper presents a methodology for using varying sample sizes in sequential quadratic programming (SQP) methods for solving equality constrained stochastic optimization problems. The first part of the paper deals with the delicate issue of dynamic sample selection in the evaluation of the gradient in conjunction with inexact solutions to the SQP subproblems. Under reasonable assumptions on the quality of the employed gradient approximations and the accuracy of the solutions to the SQP subproblems, we establish global convergence results for the proposed method. Motivated by these results, t…
