Multi-Objective LQG Design with Primal-Dual Method

Abstract

The objective of this paper is to investigate a multi-objective linear quadratic Gaussian (LQG) control problem. Specifically, we examine an optimal control problem that minimizes a quadratic cost over a finite time horizon for linear stochastic systems subject to control energy constraints. To tackle this problem, we propose an efficient bisection line search algorithm that outperforms other approaches such as semidefinite programming in terms of computational efficiency. The primary idea behind our algorithm is to use the Lagrangian function and Karush–Kuhn–Tucker (KKT) optimality conditions to address the constrained optimization problem. The bisection line search is employed to search for the Lagrange multiplier. Furthermore, we provide numerical examples to illustrate the efficacy of our proposed methods.

Keywords

• optimal control
• linear quadratic Gaussian control
• constraint
• dynamic programming
• Lagrangian