Abstract
This paper addresses the Linear Parameter Varying (LPV) control of robot manipulators. The dynamical model of such mechanical systems, obtained by writing the Euler-Lagrange equations, is nonlinear. Based on the measured signals and some change of variables, the nonlinear model can lead to an equivalent LPV state-space representation of the system. In this paper, we present a design method of state-feedback and output-feedback LPV controllers for robot manipulators. This method uses structured parameter-dependent Lyapunov matrices and proposes augmented Linear Matrix Inequalities (LMI) conditions with structural constraints. These design conditions are given as a finite number of LMIs. The validity of the proposed approach is demonstrated through simulations.
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