Approximate Dynamic Programming via Iterated Bellman Inequalities
Y. Wang, B. O'Donoghue, and S. Boyd
To appear, International Journal of Robust and Nonlinear Control, 2014. Original manuscript posted June 2010.
In this paper we introduce new methods for finding functions that lower bound the value function of a stochastic control problem, using an iterated form of the Bellman inequality. Our method is based on solving linear or semidefinite programs, and produces both a bound on the optimal objective, as well as a suboptimal policy that appears to work very well. These results extend and improve bounds obtained in a previous paper using a single Bellman inequality condition. We describe the methods in a general setting, and show how they can be applied in specific cases including the finite state case, constrained linear quadratic control, switched affine control, and multi-period portfolio investment.