Generalization of the Primal and Dual Affine Scaling Algorithms
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Generalization of the primal and dual a±ne scaling algorithms F. G. M. CUNHAy, A. W. M. PINTOz, P. R. OLIVEIRA¤x and J. X. da C. NETO{ yDepartment of Mathematics, Cear¶aFederal Centre of Technological Education, Fortaleza, Brazil; zDepartment of Mathematics, Federal University of Amazonas, Manaus, Brazil; xDepartment of Systems and Computing Engineering, Rio de Janeiro Federal University, Rio de Janeiro, Brazil; {Department of Mathematics, Federal University of Piau¶³,Teresina, Brazil; (v1.0 ¯nished 23 April 2005) We obtain a new class of primal a±ne scaling algorithms for the linearly constrained convex program- ming. It is constructed through a family of metrics generated by ¡r power, r ¸ 1, of the diagonal iterate vector matrix. We prove the so-called weak convergence. It generalizes some known algo- rithms. Working in dual space, we generalize the dual a±ne scaling algorithm of Adler, Karmarkar, Resende and Veiga, similarly depending on a r-parameter and we give its global convergence proof for nondegenerate linear programs. With the purpose of observing the computational performance of the methods, we compare them with classical algorithms (when r = 1 or r = 2), implementing the proposed families and applying to some linear programs obtained from NETLIB library. In the case of primal family, we also apply it to some quadratic programming problems described in the Maros and M¶esz¶arosrepository. Keywords: Interior Point Algorithms; A±ne Scaling Algorithms; Linear Convex Programming 1 Introduction We are interested in a±ne scaling potential algorithms. If we restrict ourselves to primal interior point methods which is one class we are interested in, we mention the a±ne scaling algorithm for linear and quadratic cost functions [1] and the polynomial logarithmic barrier approach for convex self-concordant functions, as can be seen in [2]. As our algorithm can be easily particularized to the case without linear constraints, i.e., the minimization over the positive orthant, we mention the multiplicative method [3], analysed in [4]. ¤Corresponding author. Tel.: +55 21 2562-8675; Fax: +55 21 2562-8676; E-mail: [email protected] yE-mail: [email protected]; zE-mail: [email protected]; {E-mail: [email protected] 2 F. G. M. Cunha et al. n In our approach, we let the positive orthant R++ as a Riemannian manifold. The knowledge of Riemannian geometry concepts is not necessary to under- stand this paper, but those interested can see: [5] for Riemannian geometry and [6,7] for that regarding speci¯c connection with optimization. The connec- tion between geometry and mathematical programming comes from [8]. Since then, some researches have been carried out (see, e.g. [6,7,9{16]). Most of the papers consider the so-called geodesic algorithms, where the usual straight line search of the cost function is substituted by the minimization along the geodesics which has, in general, a high computing cost. Our method follows the usual pattern | one line search is performed along the given direction. Following the same lines as this paper, we have proposed classes of algorithms for the nonlinear complementarity problem in [17] and for the minimization over the positive orthant within a proximal method set in [18]. The directions of our class, corresponding to r = 1 and r = 2 are, respec- tively, the classic multiplicative and a±ne scaling directions. The convergence result we got is the so-called weak-convergence, as obtained in [4] for the mul- tiplicative method. Finally, let us mention the power a±ne scaling method [19] for linear programming, whose convergence results are also valid for the de- generate case. Working in dual space we propose for linear programs, a generalization of the dual a±ne scaling algorithm of Adler, Karmarkar, Resende and Veiga [20], similarly depending on a r-parameter. This generalization is based on metrics de¯ned on dual space. We give the global convergence proof of the algorithm for nondegenerate problems. The paper is organized as follows. In section 2, we present the generalized primal a±ne scaling algorithm giving some background theory and its conver- gence. In section 3, we present the generalized dual a±ne scaling algorithm and give its global convergence proof for nondegenerate linear programs. Section 4 is dedicated to observing the computational performance of the methods and comparing them with classical algorithms (when r = 1 or r = 2). The paper ends reaching some conclusions and suggesting possible future researches. 2 Generalized Primal A±ne Scaling Method 2.1 Introduction We consider the resolution of (P) minimizex f(x) subject to Ax = b (1) x ¸ 0; Generalization of the primal and dual a±ne scaling algorithms 3 where the objective function f : Rn ! R is a di®erentiable and convex func- tion, A is a m £ n matrix and b a Rm vector. n Associated with R++, we de¯ne a metric through the diagonal matrix ¡r G(x) = X , for r ¸ 1, X being the diagonal© matrix whose nonnullª ele- n n ments are the x¡ 2 R++ entries.¢ We take M = x 2 R++ : Ax = b as a n ¡r submanifold of R++; X , r ¸ 1, with the induced metric. As we show below, considering f de¯ned on M, the opposite of its gradient is the a±ne scaling direction corresponding to each r ¸ 1. We limit ourselves to presenting the theoretical results we need to construct the algorithm direction. Those interested in the detailed description of the concepts presented here can see [7]. We will now obtain the gradient of f restricted to M. The ¯rst element we need is the tangent space to M, the usual null space of A, given by n TxM = TM = fd 2 R : Ad = 0g ; (2) for any x (it would be x dependent for nonlinear constraints). In order, we need the expression of the projection operator onto TM. De- noting I as the identity n £ n matrix, the projection onto TM, under any (positive de¯nite matrix) metric G, is ¡1 T ¡ ¡1 T ¢¡1 PG(x) = I ¡ G (x)A AG (x)A A: (3) In our case, with G = X¡r, this rewrites ¡ ¢¡1 P (x) = I ¡ XrAT AXrAT A: (4) ¡ ¢ n ¡r Now, notice that the gradient of f restricted to R++; X is ¡1 r r n f(x) = G rf(x) = X rf(x); (5) R++ n for any x 2 R++, where r represents the usual (Euclidean) gradient. Therefore, the gradient of f restricted to (M; X¡r) is the projection of r n f(x) onto TM, i.e., R++ r rM f(x) = P (x)X rf(x): It is easy to check that rM f(x) 2 TMp. For all d 2 TM such that kdkG := hd; Gdi = 1, using Cauchy{Schwartz 4 F. G. M. Cunha et al. inequality, we obtain jhd; rM f(x)iGj · kdkGkrM f(x)kG = krM f(x)kG: Consequently, ¡rM f(x)=krM f(x)kG is the steepest descent direction of f at x. Since f is convex, x¤ is a solution for (1) if and only if there exist Lagrangian ¤ m ¤ n multipliers y 2 R and s 2 R+ such that AT y¤ + s¤ = rf(x¤) Ax¤ = b ¤ ¤ (6) xi si = 0; i = 1; :::; n x¤ ¸ 0: From (6), some simple calculations lead to ¡ ¢ ¤ r T ¡1 r ¤ y(x ) = AX¤A AX¤rf(x ) s(x¤) = rf(x¤) ¡ AT y(x¤) (7) r ¤ X¤s = 0: Therefore, it is natural to de¯ne the following functions on M: ¡ ¢¡1 y(x) ´ AXrAT AXrrf(x); (8) s(x) ´ rf(x) ¡ AT y(x) = P T (x)rf(x); (9) r r d(x) ´ X s(x) = P (x)X rf(x) = rM f(x): (10) Under the nondegeneracy assumption, all above functions can be extended to the closure of M. Now, we apply the gradient direction computed to de¯ne the generalized primal a±ne scaling algorithm (GPAS). Algorithm GPAS: initialization: Let (A; b; c; x0 2 M; stopping criterion; ¯ > 0 and ± 2 (0; 1)) k = 0 Generalization of the primal and dual a±ne scaling algorithms 5 while stopping criterion not satis¯ed ¡ ¢ k r T ¡1 r k y = AXkA AXkrf(x ) sk = rf(xk) ¡ AT yk k r k d = X¡ks ¢ k ¡1 k ¹ =  Xk d ; 0 k ± ® = ¯+¹k k k k t = arg mint2[0;®k] f(x ¡ td ) xk+1 = xk ¡ tkdk k = k + 1 end while end Algorithm GPAS where Â(v) denotes the largest component of v. An immediate consequence is the fact that the algorithm is an interior point method. Indeed, for xk 2 M, k ¸ 0, it holds that ³ ´ ¡1 k+1 k k ¡1 k k Xk x = 1 ¡ t (xi ) di ¸ 1; if di · 0; i otherwise, we have ±¹k tk(xk)¡1dk · < 1: i i ¯ + ¹k k k ¡1 k 0 Therefore, 1¡t (xi ) di > 0. Since x > 0, the assertion follows by induction. To assure a large search interval [0; ®k], the safety factors ± must be near 1, and ¯ near 0. 2.2 Convergence of the Generalized Primal A±ne Scaling Algorithm In this subsection we will study the convergence of the generalized primal a±ne scaling algorithm with the following assumptions: Assumption 1: The matrix A has full rank m; Assumption 2: The primal problem (P) has an interior feasible solution, i.e., P ++ = fx 2 Rn : Ax = b; x > 0g 6= ;; Assumption 3: (P) is a nondegenerate problem;© ª 0 Assumption 4: The starting level set, Lx0 = x 2 M : f(x) · f(x ) , is 6 F. G. M. Cunha et al.