Visible light communication (VLC) is an emerging technique that uses light-emitting diodes to combine communication and illumination. It is considered as a promising scheme for indoor wireless communication that can be deployed at reduced costs, while offering high data rate performance. This paper focuses on the design of precoding and receiving schemes for downlink multi-user multiple-input multiple-output VLC systems using angle diversity receivers. Two major concerns need to be considered while solving such a problem. The first one is related to the inter-user interference, basically inherent to our consideration of a multi-user system, while the second results from the users’ mobility, causing imperfect channel estimates. To address both concerns, we propose robust precoding and receiver that solve the max-min SINR problem. The performance of the proposed VLC design is studied under different working conditions, where a significant gain of the proposed robust transceivers over their non-robust counterparts has been observed.