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 /spl mu/-synthesis to achieve robust performance specification.
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机译：在本文中，我们提出了一种使用线性参数变化表示的柔性关节机器人操纵器的鲁棒控制。可以通过状态转换将机器人操纵器动力学转化为准线性参数变化（LPV）形式。 LPV系统定义为线性系统，其动力学取决于可通过系统操作测量的外生变量。在这种情况下，调度变量是作为状态变量的关节角。使用准LPV形式，我们通过/ spl mu / -synthesis设计了一个鲁棒的控制器，以实现鲁棒的性能指标。
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