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.     

An Approach to Finding a Global Minimization with Equality and Inequality Constraints

We give an approach for finding a global minimization with equality and inequality Constraints.Our approach is to construct an exact penalty function, and prove that the global minimal points of this exact penalty function are the primal constrained global minimal points. Thus we convert the problem of global constrained optimization into a problem of global unconstrained optimization. Furthermore, the integral approach for finding a global minimization for a class of discontinuous functions is used and an implementable algorithm is given.     

An exponential penalty method for nondifferentiable minimax problems with general constraints

A well-known approach to constrained minimization is via a sequence of unconstrained optimization computations applied to a penalty function. This paper shows how it is possible to generalize Murphy's penalty method for differentiable problems of mathematical programming (Ref. 1) to solve nondifferentiable problems of finding saddle points with constraints. As in mathematical programming, it is shown that the method has the advantages of both Fiacco and McCormick exterior and interior penalty methods (Ref. 2). Under mild assumptions, the method has the desirable property that all trial solutions become feasible after a finite number of iterations. The rate of convergence is also presented. It should be noted that the results presented here have been obtained without making any use of differentiability assumptions.     

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.      

An exact penalty function for nonlinear programming with inequalities

It is shown how, given a nonlinear programming problem with inequality constraints, it is possible to construct an exact penalty function with a local unconstrained minimum at any local minimum of the constrained problem. The unconstrained minimum is sufficiently smooth to permit conventional optimization techniques to be used to locate it. Numerical evidence is presented on five well-known test problems.     

A new augmented Lagrangian function for inequality constraints in nonlinear programming problems

In this paper, a new augmented Lagrangian function is introduced for solving nonlinear programming problems with inequality constraints. The relevant feature of the proposed approach is that, under suitable assumptions, it enables one to obtain the solution of the constrained problem by a single unconstrained minimization of a continuously differentiable function, so that standard unconstrained minimization techniques can be employed. Numerical examples are reported.     

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.     

有限维逼近无限维总极值的积分型方法

本文用有限维逼近无限维的方法来讨论函数空间中的总体最优化问题．我们给出了新的最优性条件和用变测度方法求得的有限维解逼近总体最优解的算法．对于有约柬问题，我们用不连续罚函数法把有约束问题化为无约束问题来求解．最后，我们通过一个具有非凸状态约束的最优控制问可题的实例来说明算法的有效性．     

Existence of exact penalty for optimization problems with mixed constraints in Banach spaces

In this paper we use the penalty approach in order to study constrained minimization problems in a Banach space with nonsmooth nonconvex mixed constraints. A penalty function is said to have the exact penalty property [J.-B. Hiriart-Urruty, C. Lemarechal, Convex Analysis and Minimization Algorithms, Springer, Berlin, 1993] 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.     

带有不等式约束的非线性规划问题的一个精确增广Lagrange函数

对求解带有不等式约束的非线性非凸规划问题的一个精确增广Lagrange函数进行了研究．在适当的假设下,给出了原约束问题的局部极小点与增广Lagrange函数,在原问题变量空间上的无约束局部极小点之间的对应关系．进一步地,在对全局解的一定假设下,还提供了原约束问题的全局最优解与增广Lagrange函数,在原问题变量空间的一个紧子集上的全局最优解之间的一些对应关系．因此,从理论上讲,采用该文给出的增广Lagrange函数作为辅助函数的乘子法,可以求得不等式约束非线性规划问题的最优解和对应的Lagrange乘子．     

New Constrained Optimization Reformulation of Complementarity Problems

We suggest a reformulation of the complementarity problem CP(F) as a minimization problem with nonnegativity constraints. This reformulation is based on a particular unconstrained minimization reformulation of CP(F) introduced by Geiger and Kanzow as well as Facchinei and Soares. This allows us to use nonnegativity constraints for all the variables or only a subset of the variables on which the function F depends. Appropriate regularity conditions ensure that a stationary point of the new reformulation is a solution of the complementarity problem. In particular, stationary points with negative components can be avoided in contrast to the reformulation as unconstrained minimization problem. This advantage will be demonstrated for a class of complementarity problems which arise when the Karush–Kuhn–Tucker conditions of a convex inequality constrained optimization problem are considered.     

A sufficient condition for exact penalty functions

In this paper, we use the penalty approach for constrained minimization problems in infinite dimensional Banach spaces. 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. We establish a simple sufficient condition for exact penalty property for two large classes of constrained minimization problems.     

Exact penalty property for a class of inequality-constrained minimization problems

We use the penalty approach in order to study constrained minimization problems. 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 the exact penalty property for a large class of inequality-constrained minimization problems.     

On the Convergence of Some Constrained Minimization Algorithms Based on Recursive Quadratic Programming

This paper considers the convergence of the method of recursiveequality quadratic programming (REQP) for constrained minimization.A theorem of Wolfe (1969) gives conditions on the search directionsand step lengths used by a minimization algorithm which ensurethat it will locate an unconstrained stationary point of a function.It is shown here that, under suitable circumstances, the iterationsof REQP satisfy these conditions both with respect to the conventionalpenalty function P(x, r) and also with respect to the augmentedpenalty function proposed by Fletcher (1969) which has a minimumat the solution to the constrained problem. The behaviour ofREQP in the neighbourhood of the solution is also considered,and it is shown that the algorithm is capable of superlinearconvergence.     

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.     

带新NCP函数的Lagrangian乘子方法

在经营管理、工程设计、科学研究、军事指挥等方面普遍存在着最优化问题,而实际问题中出现的绝大多数问题都被归纳为非线性规划问题之中。作为带等式、不等式约束的复杂事例,最优化问题的求解向来较为繁琐、困难。适当条件下,非线性互补函数(NCP)可以与约束优化问题相结合,其中NCP函数的无约束极小解对应原约束问题的解及其乘子。本文提出了一类新的NCP函数用于解决等式和不等式约束非线性规划问题,结合新的NCP函数构造了增广Lagrangian函数。在适当假设条件下,证明了增广Lagrangian函数与原问题的解之间的一一对应关系。同时构造了相应算法,并证明了该算法的收敛性和有效性。     

Exterior penalty in optimal control problem with state-control constraints

We consider an abstract optimal control problem with additional equality and inequality state and control constraints, we use the exterior penalty function to transform the constrained optimal control problem into a sequence of unconstrained optimal control problems, under conditions in control lie in L ₁, the sequence of the solution to the unconstrained problem contains a subsequence converging of the solution of constrained problem, this convergence is strong when the problemis non convex, and is weak if the problemis convex in control. This generalizes the results of P.Nepomiastcthy [4] where he considered the control in the Hilbert space L ²(I,? ^m ).     

An Exact Penalty Method for Free Terminal Time Optimal Control Problem with Continuous Inequality Constraints

In this paper, we consider a class of optimal control problems with free terminal time and continuous inequality constraints. First, the problem is approximated by representing the control function as a piecewise-constant function. Then the continuous inequality constraints are transformed into terminal equality constraints for an auxiliary differential system. After these two steps, we transform the constrained optimization problem into a penalized problem with only box constraints on the decision variables using a novel exact penalty function. This penalized problem is then solved by a gradient-based optimization technique. Theoretical analysis proves that this penalty function has continuous derivatives, and for a sufficiently large and finite penalty parameter, its local minimizer is feasible in the sense that the continuous inequality constraints are satisfied. Furthermore, this local minimizer is also the local minimizer of the constrained problem. Numerical simulations on the range maximization for a hypersonic vehicle reentering the atmosphere subject to a heating constraint demonstrate the effectiveness of our method.     

A parameter-free multiplier method for constrained minimization problems

This paper is concerned with the development of a parameter-free method, closely related to penalty function and multiplier methods, for solving constrained minimization problems. The method is developed via the quadratic programming model with equality constraints. The study starts with an investigation into the convergence properties of a so-called “primal-dual differential trajectory”, defined by directions given by the direction of steepest descent with respect to the variables x of the problem, and the direction of steepest ascent with respect to the Lagrangian multipliers λ, associated with the Lagrangian function. It is shown that the trajectory converges to a stationary point (x*, λ*) corresponding to the solution of the equality constrained problem. Subsequently numerical procedures are proposed by means of which practical trajectories may be computed and the convergence of these trajectories are analyzed. A computational algorithm is presented and its application is illustrated by means of simple but representative examples. The extension of the method to inequality constrained problems is discussed and a non-rigorous argument, based on the Kuhn—Tucker necessary conditions for a constrained minimum, is put forward on which a practical procedure for determining the solution is based. The application of the method to inequality constrained problems is illustrated by its application to a couple of simple problems.     

Sufficient conditions for exact penalty in constrained optimization

In this paper we use the penalty approach in order to study constrained minimization problems. 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. We discuss very simple sufficient conditions for the exact penalty property. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)