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how to solve this optimization problem?
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TOPIC: how to solve this optimization problem?
#6964
 how to solve this optimization problem? 9 Months, 2 Weeks ago Karma: 0 My optimization problem is as follows: -------------- Variable $a = [a_0, a_1, a_2, a_3, a_4, a_5]$ Mimimize sup_{p \in \Phi} (abs(2*a_2+6*a_3*p+12*a_4*p^2 + 20*a_5*p^3)) with the set $\Phi = [-5, 5]$. s.t. A*a = 0 where the matrix A is a 4*6 known constant matrix. ------------------------------------------ 1. The function $f = sup_{p \in \Phi} (abs(2*a_2+6*a_3*p+12*a_4*p^2 + 20*a_5*p^3))$ is convex with respect to the optimization variable $a$ (since the ‘sup’ operator preserves the convexity). Therefore, I think it is a convex optimization problem. 2. If the set $\Phi$ only contain finite points, then the problem becomes a linear programing problem. However, $\Phi$ is a closed set containing infinite points, then how to transform this problem into a standard convex problem that can be solved using software? [img]http://sedumi.ie.lehigh.edu/images/fbfiles/images/MyProblem.jpg[/img]

robot planning and control
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Last Edit: 2012/08/03 01:53 By wavingsnow.

#6965
 Re: how to solve this optimization problem? 9 Months, 2 Weeks ago Karma: 32 Well, from an SeDuMi and SDP view, you would address this using sum-of-squares You want to solve minimize t s.t abs(f(p,a)) <= t for all p in... A*a = 0 i.e. minimize t s.t f(p,a)) <= t for all p in [-5,5] -f(p,a)) <= t for all p in [-5,5] A*a = 0 Now replace positivity with sum-of-squares. The interval can be dealt with either using positivstellensatz and multipliers etc, or by performing a variable change, for instance p=10z/(1+z*z) and then multiply out the denominators to get polynomial inequalities for the sum-of-squares step.

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Last Edit: 2012/08/03 04:05 By lofberg.

#6966
 Re: how to solve this optimization problem? 9 Months, 2 Weeks ago Karma: 32 BTW, your problem is trivial. Pick a=0 and the largest value is 0, which is the smallest possible.

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#6967
 Re: how to solve this optimization problem? 9 Months, 2 Weeks ago Karma: 0 Hi, Johan, thanks a lot for your kindly help. I made a mistake in the problem formulation. The equality constriant should be A*a=b where b is nonsingular. I am a newbie to the area of optimization, so I hope I can get more help from you in the future. I will learn some material for sos methods and then try to solve this question.

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Last Edit: 2012/08/03 04:55 By wavingsnow.

#6968
 Re: how to solve this optimization problem? 9 Months, 2 Weeks ago Karma: 0 Johan,Thank you very much! The problem is sloved using the sos method by a variable change as you suggested to cope with the interval. Yet, I have a question for using positivstellensatz and multipliers. In the YALMIP Wiki page of sos "users.isy.liu.se/johanl/yalmip/pmwiki.ph....SumOfSquares", it is said that "Define 4 parametrized polynomials. Let us hope quadratic multipliers suffice". Hence, I wonder how to choose the order of the multipliers? How to judge if a specific order multipliers is sufficient?

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#6969
Re: how to solve this optimization problem? 9 Months, 2 Weeks ago Karma: 32
The order of the polynomial is the second argument, hence, this would create a parameterized quartic

 Code:  [p,coeffs] = polynomial(x,4); 

You don't know which order you will need. You use as low as you can to accomplish your goal. If you are unlucky, you will need a very high order, often too high for it to work in practice.

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