Adaptive optimal control for nonlinear systems with control constraints using GDHP technique

An optimal control scheme with prescribed performance for a class of affine nonlinear systems with control constraints is developed in this paper. Based on optimization theory and methods, a constrained optimization problem is formulated. Then, we develop an improved adaptive dynamic programming algorithm based on globalized dual heuristic programming technique to solve the optimal control problem. The validity of the present scheme is verified via simulation experiments by applying our method to a typical affine nonlinear system with nonlinear dead-zone control.