In this paper, a model-free incremental adaptive optimal control scheme is proposed for nonlinear systems in presence of disturbance and input time-delay. The linear time-varying approximate model of the nonlinear system is obtained by incremental method, in which the relevant matrix parameters are identified by recursive least squares (RLS) estimation. A time-delay matrix function is constructed by neural network (NN) to eliminate the input time-delay, and the external disturbance of nonlinear system is dealt with by optimal control; incremental adaptive dynamic programming (IADP) algorithm is used to get the control law by solving Hamilton–Jacobi–Isaacs (HJI) equation. Convergence analysis of the proposed control scheme is provided. Simulations are given to verify the effectiveness of the proposed control scheme.
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