Hermite kernel surrogates for the value function of high-dimensional nonlinear optimal control problems

• Published in: Advances in computational mathematics Vol. 50; no. 3
• Main Authors: Ehring, Tobias, Haasdonk, Bernard
• Format: Journal Article
• Language: English
• Published: New York Springer US 01.06.2024; Springer Nature B.V
• Subjects: Algorithms; Cholesky factorization; Computational Mathematics and Numerical Analysis; Computational Science and Engineering; Feedback control; Finite element method; Interpolation; Mathematical and Computational Biology; Mathematical Modeling and Industrial Mathematics; Mathematics; Mathematics and Statistics; MORe 2022; Nonlinear control; Numerical methods; Optimal control; Visualization; Kernel methods; 93C10; Hermite interpolation; 93C15; Optimal feedback control; 30C40; Surrogate modeling; 49N35; 93B52
• ISSN: 1019-7168; 1572-9044
• DOI: 10.1007/s10444-024-10128-5

Numerical methods for the optimal feedback control of high-dimensional dynamical systems typically suffer from the curse of dimensionality. In the current presentation, we devise a mesh-free data-based approximation method for the value function of optimal control problems, which partially mitigates the dimensionality problem. The method is based on a greedy Hermite kernel interpolation scheme and incorporates context knowledge by its structure. Especially, the value function surrogate is elegantly enforced to be 0 in the target state, non-negative and constructed as a correction of a linearized model. The algorithm allows formulation in a matrix-free way which ensures efficient offline and online evaluation of the surrogate, circumventing the large-matrix problem for multivariate Hermite interpolation. Additionally, an incremental Cholesky factorization is utilized in the offline generation of the surrogate. For finite time horizons, both convergence of the surrogate to the value function and for the surrogate vs. the optimal controlled dynamical system are proven. Experiments support the effectiveness of the scheme, using among others a new academic model with an explicitly given value function. It may also be useful for the community to validate other optimal control approaches.