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This paper studies the robust optimal control design for uncertain nonlinearsystems from a perspective of robust adaptive dynamic programming (robust-ADP).The objective is to fill up a gap in the past literature of ADP where dynamicuncertainties or unmodeled dynamics are not addressed. A key strategy is tointegrate tools from modern nonlinear control theory, such as the robustredesign and the backstepping techniques as well as the nonlinear small-gaintheorem, with the theory of ADP. The proposed robust-ADP methodology can beviewed as a natural extension of ADP to uncertain nonlinear systems. Apractical learning algorithm is developed in this paper, and has been appliedto a sensorimotor control problem.

Robust Adaptive Dynamic Programming for Optimal Nonlinear Control Design