Robust control of a robot manipulator using a linear parameter varying representation

In this paper, we present a robust control for a flexible-joint robot manipulator using linear parameter varying representation. The robot manipulator dynamics can be brought to a quasi-linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear system whose dynamics depend on an exogenous variable which can be measured by the system operation. In this case, the scheduling variables are the joint angles which are state variables. Using a quasi-LPV form, we design a robust controller by μ-synthesis to achieve robust performance specification