This paper presents an iterative approach for solving the optimal control problem (OCP) with time-delayed terms and bounded control variables. The projection function is used to construct the iterative method to approx- imate the control law. Employing the approximation of control law the approximation of state and the co-state variables are obtained. To the best of our knowledge, this paper is the first attempt to solve bounded and delayed OCPs with a projection function. The convergence theorem for the proposed method is also proven. Several numerical examples are added, showing the developed method’s effectiveness to solve the time-delayed OCPs with bounded control variables

Keywords