Skip to main content
Log in

Smoothing methods for nonsmooth, nonconvex minimization

  • Full Length Paper
  • Series B
  • Published:
Mathematical Programming Submit manuscript

Abstract

We consider a class of smoothing methods for minimization problems where the feasible set is convex but the objective function is not convex, not differentiable and perhaps not even locally Lipschitz at the solutions. Such optimization problems arise from wide applications including image restoration, signal reconstruction, variable selection, optimal control, stochastic equilibrium and spherical approximations. In this paper, we focus on smoothing methods for solving such optimization problems, which use the structure of the minimization problems and composition of smoothing functions for the plus function (x)+. Many existing optimization algorithms and codes can be used in the inner iteration of the smoothing methods. We present properties of the smoothing functions and the gradient consistency of subdifferential associated with a smoothing function. Moreover, we describe how to update the smoothing parameter in the outer iteration of the smoothing methods to guarantee convergence of the smoothing methods to a stationary point of the original minimization problem.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Similar content being viewed by others

References

  1. Alefeld G., Chen X.: A regularized projection method for complementarity problems with non-Lipschitzian functions. Math. Comput. 77, 379–395 (2008)

    Article  MathSciNet  MATH  Google Scholar 

  2. Auslender A.: How to deal with the unbounded in optimization: theory and algorithm. Math. Program. 79, 3–18 (1997)

    MathSciNet  MATH  Google Scholar 

  3. Ben-Tal A., EI Ghaoui L., Nemirovski A.: Robust Optimization. Princeton University Press, Princeton (2009)

    MATH  Google Scholar 

  4. Bian W., Chen X.: Smoothing neural network for constrained non-Lipschitz optimization with applications. IEEE Trans. Neural Netw. Learn. Syst. 23, 399–411 (2012)

    Article  Google Scholar 

  5. Bian, W., Chen, X.: Neural network for nonsmooth, nonconvex constrained minimization via smooth approximation. Preprint (2011)

  6. Bian, W., Chen, X.: Smoothing SQP algorithm for non-Lipschitz optimization with complexity analysis. Preprint (2012)

  7. Bian W., Xue X.P.: Subgradient-based neural network for nonsmooth nonconvex optimization problem. IEEE Trans. Neural Netw. 20, 1024–1038 (2009)

    Article  Google Scholar 

  8. Bruckstein A.M., Donoho D.L., Elad M.: From sparse solutions of systems of equations to sparse modeling of signals and images. SIAM Rev. 51, 34–81 (2009)

    Article  MathSciNet  MATH  Google Scholar 

  9. Burke J.V.: Descent methods for composite nondifferentiable optimization problems. Math. Program. 33, 260–279 (1985)

    Article  MathSciNet  MATH  Google Scholar 

  10. Burke J.V., Lewis A.S., Overton M.L.: A robust gradient sampling algorithm for nonsmooth, nonconvex optimization. SIAM J. Optim. 15, 751–779 (2005)

    Article  MathSciNet  MATH  Google Scholar 

  11. Burke J.V., Henrion D., Lewis A.S., Overton M.L.: Stabilization via nonsmooth, nonconvex optimization. IEEE Trans. Automat. Control 51, 1760–1769 (2006)

    Article  MathSciNet  Google Scholar 

  12. Catis C., Gould N.I.M., Toint P.: On the evaluation complexity of composite function minimization with applications to nonconvex nonlinear programming. SIAM J. Optim. 21, 1721–1739 (2011)

    Article  MathSciNet  Google Scholar 

  13. Chartrand R.: Exact reconstruction of sparse signals via nonconvex minimization. IEEE Signal Proc. Lett. 14, 707–710 (2007)

    Article  Google Scholar 

  14. Chen B., Chen X.: A global and local superlinear continuation-smoothing method for P 0 and R 0 NCP or monotone NCP. SIAM J. Optim. 9, 624–645 (1999)

    Article  MathSciNet  MATH  Google Scholar 

  15. Chen B., Harker P.T.: A non-interior-point continuation method for linear complementarity problems. SIAM J. Matrix Anal. Appl. 14, 1168–1190 (1993)

    Article  MathSciNet  MATH  Google Scholar 

  16. Chen B., Xiu N.: A global linear and local quadratic noninterior continuation method for nonlinear complementarity problems based on Chen–Mangasarian smoothing functions. SIAM J. Optim. 9, 605–623 (1999)

    Article  MathSciNet  MATH  Google Scholar 

  17. Chen C., Mangasarian O.L.: A class of smoothing functions for nonlinear and mixed complementarity problems. Math. Program. 71, 51–70 (1995)

    Article  MathSciNet  MATH  Google Scholar 

  18. Chen X.: Smoothing methods for complementarity problems and their applications: a survey. J. Oper. Res. Soc. Japan 43, 32–46 (2000)

    Article  MathSciNet  MATH  Google Scholar 

  19. Chen X.: A superlinearly and globally convergent method for reaction and diffusion problems with a non-Lipschitzian operator. Computing[Suppl] 15, 79–90 (2001)

    Google Scholar 

  20. Chen X.: First order conditions for nonsmooth discretized constrained optimal control problems. SIAM J. Control Optim. 42, 2004–2015 (2004)

    Article  MathSciNet  MATH  Google Scholar 

  21. Chen X., Fukushima M.: Expected residual minimization method for stochastic linear complementarity problems. Math. Oper. Res. 30, 1022–1038 (2005)

    Article  MathSciNet  MATH  Google Scholar 

  22. Chen X., Fukushima M.: A smoothing method for a mathematical program with P-matrix linear complementarity constraints. Comput. Optim. Appl. 27, 223–246 (2004)

    Article  MathSciNet  MATH  Google Scholar 

  23. Chen, X., Ge, D., Wang, Z., Ye, Y.: Complexity of unconstrained L 2L p minimization. Preprint (2011)

  24. Chen X., Nashed Z., Qi L.: Smoothing methods and semismooth methods for nondifferentiable operator equations. SIAM J. Numer. Anal. 38, 1200–1216 (2000)

    Article  MathSciNet  MATH  Google Scholar 

  25. Chen, X., Niu, L., Yuan, Y.: Optimality conditions and smoothing trust region Newton method for non-Lipschitz optimization. Preprint (2012)

  26. Chen X., Qi L.: A parameterized Newton method and a quasi-Newton method for nonsmooth equations. Comput. Optim. Appl. 3, 157–179 (1994)

    Article  MathSciNet  MATH  Google Scholar 

  27. Chen X., Qi L., Sun D.: Global and superlinear convergence of the smoothing Newton method and its application to general box constrained variational inequalities. Math. Comput. 67, 519–540 (1998)

    Article  MathSciNet  MATH  Google Scholar 

  28. Chen, X., Wets, R.J-B., Zhang, Y.: Stochastic variational inequalities: residual minimization smoothing/sample average approximations SIAM J. Optim. (to appear)

  29. Chen X., Womersley R., Ye J.: Minimizing the condition number of a Gram matrix. SIAM J. Optim. 21, 127–148 (2011)

    Article  MathSciNet  MATH  Google Scholar 

  30. Chen X., Xu F., Ye Y.: Lower bound theory of nonzero entries in solutions of l 2l p minimization. SIAM J. Sci. Comput. 32, 2832–2852 (2012)

    Article  MathSciNet  Google Scholar 

  31. Chen X., Ye Y.: On homotopy-smoothing methods for variational inequalities. SIAM J. Control Optim. 37, 587–616 (1999)

    MathSciNet  Google Scholar 

  32. Chen X., Zhang C., Fukushima M.: Robust solution of monotone stochastic linear complementarity problems. Math. Program. 117, 51–80 (2009)

    Article  MathSciNet  MATH  Google Scholar 

  33. Chen X., Zhou W.: Smoothing nonlinear conjugate gradient method for image restoration using nonsmooth nonconvex minimization. SIAM J. Imaging Sci. 3, 765–790 (2010)

    Article  MathSciNet  MATH  Google Scholar 

  34. Clarke F.H.: Optimization and Nonsmooth Analysis. Wiley, New York (1983)

    MATH  Google Scholar 

  35. Conn A.R., Scheinberg K., Vicente L.N.: Introduction to Derivative-Free Optimization. MPS-SIAM Book Series on Optimization. SIAM, Philadelphia (2009)

    Book  Google Scholar 

  36. Cottle R.W., Pang J.S., Stone R.E.: The Linear Complementarity Problem. Academic Press, Boston (1992)

    MATH  Google Scholar 

  37. Daniilidis A., Sagastizbal C., Solodov M.: Identifying structure of nonsmooth convex functions by the bundle technique. SIAM J. Optim. 20, 820–840 (2009)

    Article  MathSciNet  MATH  Google Scholar 

  38. Delage E., Ye Y.: Distributionally robust optimization under monment uncertainty with application to data-driven problems. Oper. Res. 58, 595–612 (2010)

    Article  MathSciNet  MATH  Google Scholar 

  39. Facchinei F., Jiang H., Qi L.: A smoothing method for mathematical programs with equilibrium constraints. Math. Program. 85, 107–134 (1999)

    Article  MathSciNet  MATH  Google Scholar 

  40. Facchinei F., Pang J.S.: Finite-Dimensional Variational Inequalities and Complementarity Problems. Springer, New York (2003)

    Google Scholar 

  41. Fan J.: Comments on “Wavelets in Statistic: a review” by A. Antoniadis. Stat. Method. Appl. 6, 131–138 (1997)

    Google Scholar 

  42. Fan J., Li R.: Variable selection via nonconcave penalized likelihood and its oracle properties. J. Am. Stat. Assoc. 96, 1348–1360 (2001)

    Article  MathSciNet  MATH  Google Scholar 

  43. Fang H., Chen X., Fukushima M.: Stochastic R0 matrix linear complementarity problems. SIAM J. Optim. 18, 482–506 (2007)

    Article  MathSciNet  MATH  Google Scholar 

  44. Ferris M.: Extended mathematical programming: competition and stochasticity. SIAM News 45, 1–2 (2012)

    Google Scholar 

  45. Fischer A.: A special Newton-type optimization method. Optimization 24, 269–284 (1992)

    Article  MathSciNet  MATH  Google Scholar 

  46. Fukushima M., Luo Z.-Q., Pang J.-S.: A globally convergent sequential quadratic programming algorithm for mathematical programs with linear complementarity constraints. Comput. Optim. Appl. 10, 5–34 (1998)

    Article  MathSciNet  MATH  Google Scholar 

  47. Fukushima M., Luo Z.-Q., Tseng P.: Smoothing functions for second-order-cone complementarity problems. SIAM J. Optim. 12, 436–460 (2002)

    Article  MathSciNet  Google Scholar 

  48. Fukushima M., Pang J.-S.: Convergence of a smoothing continuation method for mathematical programs with complementarity constraints. In: Thera, M., Tichatschke, R. (eds) Lecture Notes in Economics and Mathematical Systems, vol. 477, pp. 99–110. Springer, Berlin (1999)

    Google Scholar 

  49. Gabriel S.A., More J.J.: Smoothing of mixed complementarity problems. In: Ferris, M.C., Pang, J.S. (eds.) Complementarity and Variational Problems: State of the Art, pp. 105–116. SIAM, Philadelphia (1997)

  50. Garmanjani, R., Vicente, L.N.: Smoothing and worst case complexity for direct-search methods in non-smooth optimization. Preprint (2011)

  51. Ge D., Jiang X., Ye Y.: A note on the complexity of L p minimization. Math. Program. 21, 1721–1739 (2011)

    MathSciNet  Google Scholar 

  52. Geman D., Reynolds G.: Constrained restoration and the recovery of discontinuities. IEEE Trans. Pattern Anal. Mach. Intell. 14, 357–383 (1992)

    Article  Google Scholar 

  53. Gürkan G., Özge A.Y., Robinson S.M.: Sample-path solution of stochastic variational inequalities. Math. Program. 84, 313–333 (1999)

    Article  MathSciNet  MATH  Google Scholar 

  54. Hamatani K., Fukushima M.: Pricing American options with uncertain volatility through stochastic linear complementarity models. Comput. Optim. Appl. 50, 263–286 (2011)

    Article  MathSciNet  MATH  Google Scholar 

  55. Hastie T., Tibshirani R., Friedman J.: The Elements of Statistical Learning Data Mining, Inference, and Prediction. Springer, New York (2009)

    MATH  Google Scholar 

  56. Hayashi S., Yamashita N., Fukushima M.: A combined smoothing and regularization method for monotone second-order cone complementarity problems. SIAM J. Optim. 15, 593–615 (2005)

    Article  MathSciNet  MATH  Google Scholar 

  57. Heinkenschloss M., KelleyC.T. Tran H.T.: Fast algorithms for nonsmooth compact fixed-point problems. SIAM J. Numer. Anal. 29, 1769–1792 (1992)

    Article  MathSciNet  MATH  Google Scholar 

  58. Hintermueller, M., Wu, T.: Nonconvex TVq-models in image restoration: analysis and a trust-region regularization based superlinearly convergent solver. Preprint (2011)

  59. Hiriart-Urruty J.B., Lemareéchal C.: Convex Analysis and Minimization Algorithms II: Advanced Theory and Boundle Methods. Springer, Berlin (1993)

    Google Scholar 

  60. Hu, M., Fukushima, M.: Smoothing approach to Nash equilibrium formulations for a class of equilibrium problems with shared complementarity constraints. Comput. Optim. Appl. (to appear)

  61. Huang J., Horowitz J.L., Ma S.: Asymptotic properties of bridge estimators in sparse high-dimensional regression models. Ann. Stat. 36, 587–613 (2008)

    Article  MathSciNet  MATH  Google Scholar 

  62. Huang J., Ma S., Xie H., Zhang C.-H.: A group bridge approach for variable selection. Biometrika 96, 339–355 (2009)

    Article  MathSciNet  MATH  Google Scholar 

  63. Huang Z., Qi L., Sun D.: Sub-quadratic convergence of a smoothing Newton algorithm for the P 0- and monotone LCP. Math. Program. 99, 423–441 (2004)

    Article  MathSciNet  MATH  Google Scholar 

  64. Jiang H., Ralph D.: Smooth SQP methods for mathematical programs with nonlinear complementarity constraints. Comput. Optim. Appl. 25, 123–150 (2002)

    Article  MathSciNet  Google Scholar 

  65. Jiang H., Xu H.: Stochastic approximation approaches to the stochastic variational inequality problem. IEEE. Trans. Autom. Control 53, 1462–1475 (2008)

    Article  MathSciNet  Google Scholar 

  66. Kanzow C.: Some noninterior continuation methods for linear cornplementarity problems. SIAM J. Matrix Anal. Appl. 17, 851–868 (1996)

    Article  MathSciNet  MATH  Google Scholar 

  67. Knight K., Fu W.J.: Asymptotics for lasso-type estimators. Ann. Stat. 28, 1356–1378 (2000)

    Article  MathSciNet  MATH  Google Scholar 

  68. Kiwiel K.C.: Methods of Descent for Nondifferentiable Optimization, Lecture Notes in Math, vol. 1133. Springer, Berlin (1985)

    Google Scholar 

  69. Kiwiel K.C.: Convergence of the gradient sampling algorithm for nonsmooth nonconvex optimization. SIAM J. Optim. 18, 379–388 (2007)

    Article  MathSciNet  MATH  Google Scholar 

  70. Lewis A.S., Pang C.H.J.: Lipschitz behavior of the robust regularization. SIAM, J. Control Optim. 48, 3080–3104 (2010)

    Article  MathSciNet  MATH  Google Scholar 

  71. Lewis A.S., Overton M.L.: Eigenvalue optimization. Acta Numerica 5, 149–190 (1996)

    Article  MathSciNet  Google Scholar 

  72. Li D., Fukushima M.: Smoothing Newton and quasi-Newton methods for mixed complementarity problems. Comput. Optim. Appl. 17, 203–230 (2000)

    Article  MathSciNet  MATH  Google Scholar 

  73. Lin G.H., Chen X., Fukushima M.: Solving stochastic mathematical programs with equilibrium constraints via approximation and smoothing implicit programming with penalization. Math. Program. 116, 343–368 (2009)

    Article  MathSciNet  MATH  Google Scholar 

  74. Lin G.H., Fukushima M.: Stochastic equilibrium problems and stochastic mathematical programs with equilibrium constraints: a survey. Pac. J. Optim. 6, 455–482 (2010)

    MathSciNet  MATH  Google Scholar 

  75. Luo Z-Q., Pang J-S., Ralph D., Wu S.: Exact penalization and stationarity conditions of mathematical programs with equilibrium constraints. Math. Program. 75, 19–76 (1996)

    Article  MathSciNet  MATH  Google Scholar 

  76. Maréchal P., Ye J.J.: Optimizing condition numbers. SIAM J. Optim. 20, 935–947 (2009)

    Article  MathSciNet  MATH  Google Scholar 

  77. Martínez J.M., Moretti A.C.: A trust region method for minimization of nonsmooth functions with linear constraints. Math. Program. 76, 431–449 (1997)

    Article  MATH  Google Scholar 

  78. Meng K., Yang X.: Optimality conditions via exact penalty functions. SIAM J. Optim. 20, 3205–3231 (2010)

    Article  MathSciNet  Google Scholar 

  79. Mifflin R.: Semismooth and semiconvex functions in constrained optimization. SIAM J. Control Optim. 15, 957–972 (1977)

    Article  MathSciNet  Google Scholar 

  80. Mordukhovich B.S.: Variational Analysis and Generalized Differentiation I and II. Springer, Berlin (2006)

    Google Scholar 

  81. Nesterov Y.: Smooth minimization of nonsmooth functions. Math. Program. 103, 127–152 (2005)

    Article  MathSciNet  MATH  Google Scholar 

  82. Nesterov Y.: Smoothing technique and its applications in semidefinite optimization. Math. Program. 110, 245–259 (2007)

    Article  MathSciNet  MATH  Google Scholar 

  83. Newey, W.K., McFadden, D.: Large sample estimation and hypothesis testing. In: Handbook of econometrics, vol. IV, pp. 2111–2245. North-Holland, Amsterdam (1994)

  84. Nikolova M.: Analysis of the recovery of edges in images and signals by minimizing nonconvex regularized least-squares. SIAM J. Multiscale Model. Simul. 4, 960–991 (2005)

    Article  MathSciNet  MATH  Google Scholar 

  85. Nikolova M., Ng M.K., Zhang S., Ching W.: Efficient reconstruction of piecewise constant images using nonsmooth nonconvex minimization. SIAM J. Imaging Sci. 1, 2–25 (2008)

    Article  MathSciNet  MATH  Google Scholar 

  86. Nocedal J., Wright S.J.: Numerical Optimization. 2nd edn. Springer, New York (2006)

    MATH  Google Scholar 

  87. Osborne M.R.: Finite Algorithms in Optimizations in Optimization and Data Analysis. Wiley, Chichester (1985)

    Google Scholar 

  88. Polyak R.A.: A nonlinear rescaling vs. smoothing technique in convex optimization. Math. Program. 92, 197–235 (2002)

    Article  MathSciNet  MATH  Google Scholar 

  89. Qi H.D., Liao L.Z.: A smoothing Newton method for extended vertical linear complementarity problems. SIAM J. Matrix Anal. Appl. 21, 45–66 (1999)

    Article  MathSciNet  MATH  Google Scholar 

  90. Qi L., Chen X.: A globally convergent successive approximation method for severely nonsmooth equations. SIAM J. Control Optim. 33, 402–418 (1995)

    Article  MathSciNet  MATH  Google Scholar 

  91. Qi L., Ling C., Tong X., Zhou G.: A smoothing projected Newton-type algorithm for semi-infinite programming. Comput. Optim. Appl. 42, 1–30 (2009)

    Article  MathSciNet  MATH  Google Scholar 

  92. Qi L., Sun D., Zhou G.: A new look at smoothing Newton methods for nonlinear complementarity problems and box constrained variational inequalities. Math. Program. 87, 1–35 (2000)

    MathSciNet  MATH  Google Scholar 

  93. Rockafellar R.T.: A property of piecewise smooth functions. Comput. Optim. Appl. 25, 247–250 (2003)

    Article  MathSciNet  MATH  Google Scholar 

  94. Rockafellar R.T., Wets R.J-B.: Variational Analysis. Springer, New York (1998)

    Book  MATH  Google Scholar 

  95. Ruszczynski A., Shapiro A.: Stochastic Programming, Handbooks in Operations Research and Management Science. Elsevier, Amsterdam (2003)

    Google Scholar 

  96. Smale, S.: Algorithms for solving equations. In: Proceedings of the International Congress of Mathematicians, Berkeley, CA, pp. 172–195 (1986)

  97. Sun J., Sun D., Qi L.: A squared smoothing Newton method for nonsmooth matrix equations and its applications in semidefinite optimization problems. SIAM J. Optim. 14, 783–806 (2004)

    Article  MathSciNet  MATH  Google Scholar 

  98. Tassa, Y., Todorov, E.: Stochastic complementarity for local control of discontinuous dynamics. In: Proceedings of Robotics: Science and Systems (RSS) (2010)

  99. Wright S.J.: Convergence of an inexact algorithm for composite nonsmooth optimization. IMA J. Numer. Anal. 9, 299–321 (1990)

    Article  Google Scholar 

  100. Xu H.: Sample average approximation methods for a class of stochastic variational inequality problems. Asia Pac. J. Oper. Res. 27, 103–119 (2010)

    Article  MathSciNet  MATH  Google Scholar 

  101. Xu Z., Zhang H., Wang Y., Chang X.: L 1/2 regularizer. Sci. China Ser. F-Inf Sci. 53, 1159–1169 (2010)

    Article  MathSciNet  Google Scholar 

  102. Yuan Y.: Conditions for convergence of a trust-region method for nonsmooth optimization. Math. Program. 31, 220–228 (1985)

    Article  MATH  Google Scholar 

  103. Zang I.: A smoothing-out technique for min-max optimization. Math. Program. 19, 61–71 (1980)

    Article  MathSciNet  MATH  Google Scholar 

  104. Zhang C., Chen X.: Smoothing projected gradient method and its application to stochastic linear complementarity problems. SIAM J. Optim. 20, 627–649 (2009)

    Article  MathSciNet  MATH  Google Scholar 

  105. Zhang C., Chen X., Sumalee A.: Wardrop’s user equilibrium assignment under stochastic environment. Transp. Res. B 45, 534–552 (2011)

    Article  Google Scholar 

  106. Zhang C.-H.: Nearly unbiased variable selection under minimax concave penalty. Ann. Stat. 38, 894–942 (2010)

    Article  MATH  Google Scholar 

  107. Zhou G.L., Caccetta L., Teo K.L: A superlinearly convergent method for a class of complementarity problems with non-Lipschitzian functions. SIAM J. Optim. 20, 1811–1827 (2010)

    Article  MathSciNet  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Xiaojun Chen.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Chen, X. Smoothing methods for nonsmooth, nonconvex minimization. Math. Program. 134, 71–99 (2012). https://doi.org/10.1007/s10107-012-0569-0

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10107-012-0569-0

Keywords

Mathematics Subject Classification

Navigation