Some recent directions in algebraic methods for optimization and lyapunov analysis

Amir Ali Ahmadi, Pablo A. Parrilo

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Scopus citations

Abstract

Exciting recent developments at the interface of optimization and control have shown that several fundamental problems in dynamics and control, such as stability, collision avoidance, robust performance, and controller synthesis can be addressed by a synergy of classical tools from Lyapunov theory and modern computational techniques from algebraic optimization. In this chapter, we give a brief overview of our recent research efforts (with various coauthors) to (i) enhance the scalability of the algorithms in this field, and (ii) understand their worst case performance guarantees as well as fundamental limitations. The topics covered include the concepts of “dsos and sdsos optimization”, path-complete and non-monotonic Lyapunov functions, and some lower bounds and complexity results for Lyapunov analysis of polynomial vector fields and hybrid systems. In each case, our relevant papers are tersely surveyed and the challenges/opportunities that lie ahead are stated.

Original languageEnglish (US)
Title of host publicationSpringer Tracts in Advanced Robotics
PublisherSpringer Verlag
Pages89-112
Number of pages24
DOIs
StatePublished - 2017

Publication series

NameSpringer Tracts in Advanced Robotics
Volume117
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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