Nonlinear robust optimization via sequential convex bilevel programming

In this paper, we present a novel sequential convex bilevel programming algorithm for the numerical solution of structured nonlinear min–max problemswhich arise in the context of semi-infinite programming. Here, our main motivation are nonlinear inequality constrained robust optimization problems. In the first part of the paper, we propose a conservative approximation strategy for such nonlinear and nonconvex robust optimization problems: under the assumption that an upper bound for the curvature of the inequality constraints with respect to the uncertainty is given, we show how to formulate a lower-level concave min–max problem which approximates the robust counterpart in a conservative way. This approximation turns out to be exact in some relevant special cases and can be proven to be less conservative than existing approximation techniques that are based on linearization with respect to the uncertainties. In the second part of the paper, we review existing theory on optimality conditions for nonlinear lower-level concave min–max problems which arise in the context of semi-infinite programming. Regarding the optimality conditions for the concave lower level maximization problems as a constraint of the upper level minimization problem, we end up with a structured mathematical program with complementarity constraints (MPCC). The special hierarchical structure of this MPCC can be exploited in a novel sequential convex bilevel programming algorithm. We discuss the surprisingly strong global and locally quadratic convergence properties of this method, which can in this form neither be obtained with existing SQP methods nor with interior point relaxation techniques for general MPCCs. Finally, we discuss the application fields and B. Houska (B)· M. Diehl Optimization in Engineering Center (OPTEC), K. U. Leuven, Kasteelpark Arenberg 10, 3001 Leuven-Heverlee, Belgium e-mail: [email protected] M. Diehl e-mail: [email protected]