... laws are designed for both free space and constraint space based on the energy equation. Then, a smooth switching method based on selection matrix is developed. Subsequently, the admittance-based overall control system is discussed. Finally, comparative simulations and experiments are conducted...

.... Findings The polytopic set of the resulting gains creates the smooth switching polytopic LPV (SS-LPV) controller which is applied to the trajectory tracking problem of the six-degree-of-freedom PUMA 560 robotic arm. A sufficient condition ensures that the proposed controller stabilizes the polytopic LPV...