On the Differentiability of Projected Trajectories and the Robust Convergence of Non-Convex Anti-Windup Gradient Flows
Adrian Hauswirth, Florian Dorfler, Andrew Teel · IEEE Control Systems Letters · 2020
This letter concerns a new class of discontinuous dynamical systems for constrained optimization. These dynamics are particularly suited to solve nonlinear, non-convex problems in closed-loop with a physical system. Such approaches using feedback controllers that emulate optimization algorithms have recently been proposed for the autonomous optimization of power systems and other infrastructures. In this letter, we consider feedback gradient flows that exploit physical input saturation with the help of anti-windup control to enforce constraints. We prove semi-global convergence of “projected” trajectories to first-order optimal points, i.e., of the trajectories obtained from a pointwise projection onto the feasible set. In the process, we establish properties of the directional derivative of the projection map for non-convex, prox-regular sets.