LPV Controller Design for Robot Manipulators Based on Augmented LMI Conditions with Structural Constraints

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.