Adaptive optimal tracking control for nonlinear continuous-time systems with time delay using value iteration algorithm

Abstract

In this paper, an integral reinforcement learning-based value iteration algorithm is developed for solving the infinite horizon optimal tracking control problem of nonlinear continuous-time systems with time delay. The main idea is using the value iteration technique to obtain the iterative control law, which optimizes the iterative performance index function. In contrast to the existing value iteration algorithms, the proposed IRL-based value iteration algorithm takes the time delay into account. Second, the convergence analysis of the proposed algorithm is given for the nonlinear continuous-time systems with time delay. Moreover, the critic neural network is utilized to approximate the performance index function and compute the optimal control law for facilitating the implementation of the iterative algorithm. Finally, the simulation results are presented to illustrate the effectiveness of the developed method.