An Exact Penalty Function Method for Continuous Inequality Constrained Optimal Control Problem

In this paper, we consider a class of optimal control problems subject to equality terminal state constraints and continuous state and control inequality constraints. By using the control parametrization technique and a time scaling transformation, the constrained optimal control problem is approximated by a sequence of optimal parameter selection problems with equality terminal state constraints and continuous state inequality constraints. Each of these constrained optimal parameter selection problems can be regarded as an optimization problem subject to equality constraints and continuous inequality constraints. On this basis, an exact penalty function method is used to devise a computational method to solve these optimization problems with equality constraints and continuous inequality constraints. The main idea is to augment the exact penalty function constructed from the equality constraints and continuous inequality constraints to the objective function, forming a new one. This gives rise to a sequence of unconstrained optimization problems. It is shown that, for sufficiently large penalty parameter value, any local minimizer of the unconstrained optimization problem is a local minimizer of the optimization problem with equality constraints and continuous inequality constraints. The convergent properties of the optimal parameter selection problems with equality constraints and continuous inequality constraints to the original optimal control problem are also discussed. For illustration, three examples are solved showing the effectiveness and applicability of the approach proposed.     

A Lower Bound for the Penalty Parameter in the Exact Minimax Penalty Function Method for Solving Nondifferentiable Extremum Problems

In the paper, we consider the exact minimax penalty function method used for solving a general nondifferentiable extremum problem with both inequality and equality constraints. We analyze the relationship between an optimal solution in the given constrained extremum problem and a minimizer in its associated penalized optimization problem with the exact minimax penalty function under the assumption of convexity of the functions constituting the considered optimization problem (with the exception of those equality constraint functions for which the associated Lagrange multipliers are negative—these functions should be assumed to be concave). The lower bound of the penalty parameter is given such that, for every value of the penalty parameter above the threshold, the equivalence holds between the set of optimal solutions in the given extremum problem and the set of minimizers in its associated penalized optimization problem with the exact minimax penalty function.     

Exactness Property of the Exact Absolute Value Penalty Function Method for Solving Convex Nondifferentiable Interval-Valued Optimization Problems

In the paper, the classical exact absolute value function method is used for solving a nondifferentiable constrained interval-valued optimization problem with both inequality and equality constraints. The property of exactness of the penalization for the exact absolute value penalty function method is analyzed under assumption that the functions constituting the considered nondifferentiable constrained optimization problem with the interval-valued objective function are convex. The conditions guaranteeing the equivalence of the sets of LU-optimal solutions for the original constrained interval-valued extremum problem and for its associated penalized optimization problem with the interval-valued exact absolute value penalty function are given.     

一种新的求解带约束的有限极大极小问题的精确罚函数

提出了一种新的精确光滑罚函数求解带约束的极大极小问题．仅仅添加一个额外的变量,利用这个精确光滑罚函数,将带约束的极大极小问题转化为无约束优化问题． 证明了在合理的假设条件下,当罚参数充分大,罚问题的极小值点就是原问题的极小值点．进一步,研究了局部精确性质．数值结果表明这种罚函数算法是求解带约束有限极大极小问题的一种有效算法．     

Numerical algorithm for a class of constrained optimal control problems of switched systems

In this paper, we consider an optimal control problem of switched systems with continuous-time inequality constraints. Because of the complexity of such constraints and switching laws, it is difficult to solve this problem by standard optimization techniques. To overcome the difficulty, we adopt a bi-level algorithm to divide the problem into two nonlinear constrained optimization problems: one continuous and the other discrete. To solve the problem, we transform the inequality constraints into equality constraints which is smoothed using a twice continuously differentiable function and treated as a penalty function. On this basis, the smoothed problem can be solved by any second-order gradient algorithm, e.g., Newton’s Method. Finally, numerical examples show that our method is effective compared to existing algorithms.     

A filled function method for constrained global optimization

In this paper, a filled function method for solving constrained global optimization problems is proposed. A filled function is proposed for escaping the current local minimizer of a constrained global optimization problem by combining the idea of filled function in unconstrained global optimization and the idea of penalty function in constrained optimization. Then a filled function method for obtaining a global minimizer or an approximate global minimizer of the constrained global optimization problem is presented. Some numerical results demonstrate the efficiency of this global optimization method for solving constrained global optimization problems.     

Theoretical and Practical Convergence of a Self-Adaptive Penalty Algorithm for Constrained Global Optimization

This paper proposes a self-adaptive penalty function and presents a penalty-based algorithm for solving nonsmooth and nonconvex constrained optimization problems. We prove that the general constrained optimization problem is equivalent to a bound constrained problem in the sense that they have the same global solutions. The global minimizer of the penalty function subject to a set of bound constraints may be obtained by a population-based meta-heuristic. Further, a hybrid self-adaptive penalty firefly algorithm, with a local intensification search, is designed, and its convergence analysis is established. The numerical experiments and a comparison with other penalty-based approaches show the effectiveness of the new self-adaptive penalty algorithm in solving constrained global optimization problems.     

关于约束极小化问题的一个新的简单精确罚函数

针对等式及不等式约束极小化问题,通过对原问题添加一个变量,给出一个新的简单精确罚函数,即在该精确罚函数表达式中,不含有目标函数及约束函数的梯度．在满足某些约束品性的条件下,可以证明:当罚参数充分大时,所给出的罚问题的局部极小点是原问题的局部极小点．     

Parameter Tuning of Multi-Proportional-Integral-Derivative Controllers Based on Optimal Switching Algorithms

Under the framework of switched systems, this paper considers a multi-proportional-integral-derivative controller parameter tuning problem with terminal equality constraints and continuous-time inequality constraints. The switching time and controller parameters are decision variables to be chosen optimally. Firstly, we transform the optimal control problem into an equivalent problem with fixed switching instants by introducing an auxiliary function and a time-scaling transformation. Because of the complexity of constraints, it is difficult to solve the problem by conventional optimization techniques. To overcome this difficulty, a novel exact penalty function is introduced for these constraints. Furthermore, the penalty function is appended to the cost functional to form an augmented cost functional, giving rise to an approximate nonlinear parameter optimization problem that can be solved using any gradient-based method. Convergence results indicate that any local optimal solution of the approximate problem is also a local optimal solution of the original problem as long as the penalty parameter is sufficiently large. Finally, an example is provided to illustrate the effectiveness of the developed algorithm.     

Optimal discrete-valued control computation

In this paper, we consider an optimal control problem in which the control takes values from a discrete set and the state and control are subject to continuous inequality constraints. By introducing auxiliary controls and applying a time-scaling transformation, we transform this optimal control problem into an equivalent problem subject to additional linear and quadratic constraints. The feasible region defined by these additional constraints is disconnected, and thus standard optimization methods struggle to handle these constraints. We introduce a novel exact penalty function to penalize constraint violations, and then append this penalty function to the objective. This leads to an approximate optimal control problem that can be solved using standard software packages such as MISER. Convergence results show that when the penalty parameter is sufficiently large, any local solution of the approximate problem is also a local solution of the original problem. We conclude the paper with some numerical results for two difficult train control problems.     

An exact penalty function method for nonlinear mixed discrete programming problems

In this paper, we consider a general class of nonlinear mixed discrete programming problems. By introducing continuous variables to replace the discrete variables, the problem is first transformed into an equivalent nonlinear continuous optimization problem subject to original constraints and additional linear and quadratic constraints. Then, an exact penalty function is employed to construct a sequence of unconstrained optimization problems, each of which can be solved effectively by unconstrained optimization techniques, such as conjugate gradient or quasi-Newton methods. It is shown that any local optimal solution of the unconstrained optimization problem is a local optimal solution of the transformed nonlinear constrained continuous optimization problem when the penalty parameter is sufficiently large. Numerical experiments are carried out to test the efficiency of the proposed method.     

Exact penalty functions method for mathematical programming problems involving invex functions

In this paper, some new results on the exact penalty function method are presented. Simple optimality characterizations are given for the differentiable nonconvex optimization problems with both inequality and equality constraints via exact penalty function method. The equivalence between sets of optimal solutions in the original mathematical programming problem and its associated exact penalized optimization problem is established under suitable invexity assumption. Furthermore, the equivalence between a saddle point in the invex mathematical programming problem and an optimal point in its exact penalized optimization problem is also proved.     

The exact penalty principle

The exact penalty approach aims at replacing a constrained optimization problem by an equivalent unconstrained optimization problem. Most results in the literature of exact penalization are mainly concerned with finding conditions under which a solution of the constrained optimization problem is a solution of an unconstrained penalized optimization problem, and the reverse property is rarely studied. In this paper, we study the reverse property. We give the conditions under which the original constrained (single and/or multiobjective) optimization problem and the unconstrained exact penalized problem are exactly equivalent. The main conditions to ensure the exact penalty principle for optimization problems include the global and local error bound conditions. By using variational analysis, these conditions may be characterized by using generalized differentiation.     

Optimal feedback control for dynamic systems with state constraints: An exact penalty approach

In this paper, we consider a class of nonlinear dynamic systems with terminal state and continuous inequality constraints. Our aim is to design an optimal feedback controller that minimizes total system cost and ensures satisfaction of all constraints. We first formulate this problem as a semi-infinite optimization problem. We then show that by using a new exact penalty approach, this semi-infinite optimization problem can be converted into a sequence of nonlinear programming problems, each of which can be solved using standard gradient-based optimization methods. We conclude the paper by discussing applications of our work to glider control.     

Simulated annealing with asymptotic convergence for nonlinear constrained optimization

In this paper, we present constrained simulated annealing (CSA), an algorithm that extends conventional simulated annealing to look for constrained local minima of nonlinear constrained optimization problems. The algorithm is based on the theory of extended saddle points (ESPs) that shows the one-to-one correspondence between a constrained local minimum and an ESP of the corresponding penalty function. CSA finds ESPs by systematically controlling probabilistic descents in the problem-variable subspace of the penalty function and probabilistic ascents in the penalty subspace. Based on the decomposition of the necessary and sufficient ESP condition into multiple necessary conditions, we present constraint-partitioned simulated annealing (CPSA) that exploits the locality of constraints in nonlinear optimization problems. CPSA leads to much lower complexity as compared to that of CSA by partitioning the constraints of a problem into significantly simpler subproblems, solving each independently, and resolving those violated global constraints across the subproblems. We prove that both CSA and CPSA asymptotically converge to a constrained global minimum with probability one in discrete optimization problems. The result extends conventional simulated annealing (SA), which guarantees asymptotic convergence in discrete unconstrained optimization, to that in discrete constrained optimization. Moreover, it establishes the condition under which optimal solutions can be found in constraint-partitioned nonlinear optimization problems. Finally, we evaluate CSA and CPSA by applying them to solve some continuous constrained optimization benchmarks and compare their performance to that of other penalty methods.     

基于二次函数光滑化逼近的修正低阶罚函数

针对不等式约束优化问题, 给出了通过二次函数对低阶精确罚函数进行光滑化逼近的两种函数形式, 得到修正的光滑罚函数. 证明了在一定条件下, 当罚参数充分大, 修正的光滑罚问题的全局最优解是原优化问题的全局最优解. 给出的两个数值例子说明了所提出的光滑化方法的有效性.     

Existence of Exact Penalty for Constrained Optimization Problems in Metric Spaces

In this paper we use the penalty approach in order to study constrained minimization problems in a complete metric space with locally Lipschitzian mixed constraints. A penalty function is said to have the exact penalty property if there is a penalty coefficient for which a solution of an unconstrained penalized problem is a solution of the corresponding constrained problem. In this paper we establish sufficient conditions for the exact penalty property.      

Existence of Exact Penalty and Its Stability for Nonconvex Constrained Optimization Problems in Banach Spaces

In this paper we use the penalty approach in order to study two constrained minimization problems. A penalty function is said to have the generalized exact penalty property if there is a penalty coefficient for which approximate solutions of the unconstrained penalized problem are close enough to approximate solutions of the corresponding constrained problem. In this paper we show that the generalized exact penalty property is stable under perturbations of cost functions, constraint functions and the right-hand side of constraints.     

A new exact exponential penalty function method and nonconvex mathematical programming

A new exact penalty function method, called the l₁ exact exponential penalty function method, is introduced. In this approach, the so-called the exponential penalized optimization problem with the l₁ exact exponential penalty function is associated with the original optimization problem with both inequality and equality constraints. The l₁ exact exponential penalty function method is used to solve nonconvex mathematical programming problems with r-invex functions (with respect to the same function η). The equivalence between sets of optimal solutions of the original mathematical programming problem and of its associated exponential penalized optimization problem is established under suitable r-invexity assumption. Also lower bounds on the penalty parameter are given, for which above these values, this result is true.     

Solving nonlinearly constrained global optimization problem via an auxiliary function method

This paper considers the nonlinearly constrained continuous global minimization problem. Based on the idea of the penalty function method, an auxiliary function, which has approximately the same global minimizers as the original problem, is constructed. An algorithm is developed to minimize the auxiliary function to find an approximate constrained global minimizer of the constrained global minimization problem. The algorithm can escape from the previously converged local minimizers, and can converge to an approximate global minimizer of the problem asymptotically with probability one. Numerical experiments show that it is better than some other well known recent methods for constrained global minimization problems.