We explore the power of semidefinite programming (SDP) for finding additive ɛ-approximate Nash equilibria in bimatrix games. We introduce an SDP relaxation for a quadratic programming formulation of the Nash equilibrium problem and provide a number of valid inequalities to improve the quality of the relaxation. If a rank-1 solution to this SDP is found, then an exact Nash equilibrium can be recovered. We show that, for a strictly competitive game, our SDP is guaranteed to return a rank-1 solution. We propose two algorithms based on the iterative linearization of smooth nonconvex objective functions whose global minima by design coincide with rank-1 solutions. Empirically, we demonstrate that these algorithms often recover solutions of rank at most 2 and ɛ close to zero. Furthermore, we prove that if a rank-2 solution to our SDP is found, then a [Formula: see text]-Nash equilibrium can be recovered for any game, or a [Formula: see text]-Nash equilibrium for a symmetric game. We then show how our SDP approach can address two (NP-hard) problems of economic interest: finding the maximum welfare achievable under any Nash equilibrium, and testing whether there exists a Nash equilibrium where a particular set of strategies is not played. Finally, we show the connection between our SDP and the first level of the Lasserre/sum of squares hierarchy.

Motivated by the need for formal guarantees on the stability and safety of controllers for challenging robot control tasks, we present a control design procedure that explicitly seeks to maximize the size of an invariant “funnel” that leads to a predefined goal set. Our certificates of invariance are given in terms of sums of squares proofs of a set of appropriately defined Lyapunov inequalities. These certificates, together with our proposed polynomial controllers, can be efficiently obtained via semidefinite optimization. Our approach can handle time-varying dynamics resulting from tracking a given trajectory, input saturations (e.g. torque limits), and can be extended to deal with uncertainty in the dynamics and state. The resulting controllers can be used by space-filling feedback motion planning algorithms to fill up the space with significantly fewer trajectories. We demonstrate our approach on a severely torque limited underactuated double pendulum (Acrobot) and provide extensive simulation and hardware validation.

We study the problem of approximating the joint spectral radius (JSR) of a finite set of matrices. Our approach is based on the analysis of the underlying switched linear system via inequalities imposed between multiple Lyapunov functions associated to a labeled directed graph. Inspired by concepts in automata theory and symbolic dynamics, we define a class of graphs called path-complete graphs, and show that any such graph gives rise to a method for proving stability of the switched system. This enables us to derive several asymptotically tight hierarchies of semidefinite programming relaxations that unify and generalize many existing techniques such as common quadratic, common sum of squares, maximum/minimum-of-quadratics Lyapunov functions. We characterize all path-complete graphs consisting of two nodes on an alphabet of two matrices and compare their performance. For the general case of any set of n x n matrices we propose semidefinite programs of modest size that approximate the JSR within a multiplicative factor of 1/4√n of the true value. We establish a notion of duality among path-complete graphs and a constructive converse Lyapunov theorem for maximum/minimum-of-quadratics Lyapunov functions.