Adapted dynamic programming for nonlinear systems with saturated actuator and time-delay
Wang Daohong · Journal of Central South University(Science and Technology) · 2013
An optimal control scheme based on using a new iterative adaptive dynamic programming(ADP) algorithm was presented to solve a class of nonlinear system with saturating actuator and time-delay in state.The Hamilton-Jacobi-Bellman(HJB) equation corresponding to constrained control was formulated using a nonquadratic function.Because the index function includes with state time-delay coupling and anti-saturation function was nonquadratic,and it was difficult to solve the HJB equation,the optimal control was obtained using the adaptive dynamic programming.Convergence analysis was presented to prove that the performance index function can reach the optimum by the iterative.Contrast simulation test results demonstrate the effectiveness of the above method and the superiority of the solution.