An adaptive dynamic programming algorithm to solve optimal control of uncertain nonlinear systems

In this paper, an approximate optimal control method based on adaptive dynamic programming(ADP) is discussed for completely unknown nonlinear system. An online critic-action-identifier algorithm is developed using neural network systems, where the criticaction networks approximate the optimal value function and optimal control and the other two neural networks approximates the unknown system. Furthermore the adaptive tuning laws are given based on Lyapunov approach, which ensures the uniform ultimate bounded stability of the closed-loop system. Finally, the effectiveness is demonstrated by a simulation example.