Adaptive Dynamic Programming-based Approximate Optimal Control for Collaborative Robot via Quintic Polynomial Planning

In this paper, we investigate adaptive dynamic programming-based quintic polynomial trajectory planning and optimal tracking control for collaborative robotic systems. According to polynomial interpolation, a quintuple polynomial trajectory planning method is proposed, which solves the problems of non-smooth angular velocity changes and jumps in acceleration with cubic polynomial interpolation. In addition, the optimal control strategy is solved by adaptive dynamic programming. Lyapunov functions are introduced to prove the stability of the control system. At last, the simulation results verify the truth of the above theory.